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AP_Soaring: eliminate GCS_MAVLINK::send_statustext_all

This commit is contained in:
Peter Barker 2017-07-09 14:17:25 +10:00 committed by Francisco Ferreira
parent 93e09c51d3
commit 196f94aaae
2 changed files with 5 additions and 5 deletions
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8
libraries/AP_Soaring/AP_Soaring.cpp
View File

@ -182,10 +182,10 @@ bool SoaringController::check_cruise_criteria()
float alt = _vario.alt; float alt = _vario.alt;
if (soar_active && (AP_HAL::micros64() - _thermal_start_time_us) > ((unsigned)min_thermal_s * 1e6) && thermalability < McCready(alt)) { if (soar_active && (AP_HAL::micros64() - _thermal_start_time_us) > ((unsigned)min_thermal_s * 1e6) && thermalability < McCready(alt)) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Thermal weak, recommend quitting: W %f R %f th %f alt %f Mc %f\n", (double)_ekf.X[0], (double)_ekf.X[1], (double)thermalability, (double)alt, (double)McCready(alt)); gcs().send_text(MAV_SEVERITY_INFO, "Thermal weak, recommend quitting: W %f R %f th %f alt %f Mc %f\n", (double)_ekf.X[0], (double)_ekf.X[1], (double)thermalability, (double)alt, (double)McCready(alt));
return true; return true;
} else if (soar_active && (alt>alt_max || alt<alt_min)) { } else if (soar_active && (alt>alt_max || alt<alt_min)) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_ALERT, "Out of allowable altitude range, beginning cruise. Alt = %f\n", (double)alt); gcs().send_text(MAV_SEVERITY_ALERT, "Out of allowable altitude range, beginning cruise. Alt = %f\n", (double)alt);
return true; return true;
} }
@ -272,10 +272,10 @@ void SoaringController::update_thermalling()
// Print32_t filter info for debugging // Print32_t filter info for debugging
int32_t i; int32_t i;
for (i = 0; i < 4; i++) { for (i = 0; i < 4; i++) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "%e ", (double)_ekf.P[i][i]); gcs().send_text(MAV_SEVERITY_INFO, "%e ", (double)_ekf.P[i][i]);
} }
for (i = 0; i < 4; i++) { for (i = 0; i < 4; i++) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "%e ", (double)_ekf.X[i]); gcs().send_text(MAV_SEVERITY_INFO, "%e ", (double)_ekf.X[i]);
} }
#endif #endif

2
libraries/AP_Soaring/Variometer.cpp
View File

@ -75,6 +75,6 @@ float Variometer::correct_netto_rate(float climb_rate,
//float temp_netto = netto_rate; //float temp_netto = netto_rate;
//float dVdt = SpdHgt_Controller->get_VXdot(); //float dVdt = SpdHgt_Controller->get_VXdot();
//netto_rate = netto_rate + aspd*dVdt/GRAVITY_MSS; //netto_rate = netto_rate + aspd*dVdt/GRAVITY_MSS;
//GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "%f %f %f %f\n",temp_netto,dVdt,netto_rate,barometer.get_altitude()); //gcs().send_text(MAV_SEVERITY_INFO, "%f %f %f %f\n",temp_netto,dVdt,netto_rate,barometer.get_altitude());
return netto_rate; return netto_rate;
} }