Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Replace use of UARTDriver::printf_P() with UARTDriver::printf() 

This also starts to show warnings on places that were already using
wrong printf format strings.
This commit is contained in:
Lucas De Marchi 2015-10-25 18:10:41 -02:00 committed by Randy Mackay
parent 7ceffb1e2b
commit 20c6ffc5e3
66 changed files with 382 additions and 382 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
APMrover2/APMrover2.cpp
View File

@ -302,7 +302,7 @@ void Rover::one_second_loop(void)
// write perf data every 20s
if (counter % 10 == 0) {
if (scheduler.debug() != 0) {
hal.console->printf_P("G_Dt_max=%lu\n", (unsigned long)G_Dt_max);
hal.console->printf("G_Dt_max=%lu\n", (unsigned long)G_Dt_max);
}
if (should_log(MASK_LOG_PM))
Log_Write_Performance();

18
APMrover2/Log.cpp
View File

@ -24,16 +24,16 @@ MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&rover, &Rover::print_log
bool Rover::print_log_menu(void)
{
cliSerial->printf_P("logs enabled: ");
cliSerial->printf("logs enabled: ");
if (0 == g.log_bitmask) {
cliSerial->printf_P("none");
cliSerial->printf("none");
}else{
// Macro to make the following code a bit easier on the eye.
// Pass it the capitalised name of the log option, as defined
// in defines.h but without the LOG_ prefix. It will check for
// the bit being set and print the name of the log option to suit.
#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf_P(" %S", #_s)
#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf(" %S", #_s)
PLOG(ATTITUDE_FAST);
PLOG(ATTITUDE_MED);
PLOG(GPS);
@ -70,11 +70,11 @@ int8_t Rover::dump_log(uint8_t argc, const Menu::arg *argv)
DataFlash.DumpPageInfo(cliSerial);
return(-1);
} else if (dump_log_num <= 0) {
cliSerial->printf_P("dumping all\n");
cliSerial->printf("dumping all\n");
Log_Read(0, 1, 0);
return(-1);
} else if ((argc != 2) || ((uint16_t)dump_log_num > DataFlash.get_num_logs())) {
cliSerial->printf_P("bad log number\n");
cliSerial->printf("bad log number\n");
return(-1);
}
@ -97,7 +97,7 @@ int8_t Rover::select_logs(uint8_t argc, const Menu::arg *argv)
uint16_t bits;
if (argc != 2) {
cliSerial->printf_P("missing log type\n");
cliSerial->printf("missing log type\n");
return(-1);
}
@ -148,9 +148,9 @@ int8_t Rover::process_logs(uint8_t argc, const Menu::arg *argv)
void Rover::do_erase_logs(void)
{
cliSerial->printf_P("\nErasing log...\n");
cliSerial->printf("\nErasing log...\n");
DataFlash.EraseAll();
cliSerial->printf_P("\nLog erased.\n");
cliSerial->printf("\nLog erased.\n");
}
@ -411,7 +411,7 @@ void Rover::log_init(void)
// Read the DataFlash log memory : Packet Parser
void Rover::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page)
{
cliSerial->printf_P("\n" FIRMWARE_STRING
cliSerial->printf("\n" FIRMWARE_STRING
"\nFree RAM: %u\n",
(unsigned)hal.util->available_memory());

6
APMrover2/Parameters.cpp
View File

@ -566,7 +566,7 @@ const AP_Param::ConversionInfo conversion_table[] = {
void Rover::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
cliSerial->printf_P("Bad var table\n");
cliSerial->printf("Bad var table\n");
hal.scheduler->panic("Bad var table");
}
@ -574,7 +574,7 @@ void Rover::load_parameters(void)
g.format_version != Parameters::k_format_version) {
// erase all parameters
cliSerial->printf_P("Firmware change: erasing EEPROM...\n");
cliSerial->printf("Firmware change: erasing EEPROM...\n");
AP_Param::erase_all();
// save the current format version
@ -585,7 +585,7 @@ void Rover::load_parameters(void)
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
cliSerial->printf_P("load_all took %luus\n", micros() - before);
cliSerial->printf("load_all took %luus\n", micros() - before);
}
// set a more reasonable default NAVL1_PERIOD for rovers

2
APMrover2/control_modes.cpp
View File

@ -105,7 +105,7 @@ void Rover::read_trim_switch()
// save command
if(mission.add_cmd(cmd)) {
hal.console->printf_P("Learning waypoint %u", (unsigned)mission.num_commands());
hal.console->printf("Learning waypoint %u", (unsigned)mission.num_commands());
}
} else if (control_mode == AUTO) {
// if SW7 is ON in AUTO = set to RTL

8
APMrover2/setup.cpp
View File

@ -18,7 +18,7 @@ MENU(setup_menu, "setup", setup_menu_commands);
int8_t Rover::setup_mode(uint8_t argc, const Menu::arg *argv)
{
// Give the user some guidance
cliSerial->printf_P("Setup Mode\n"
cliSerial->printf("Setup Mode\n"
"\n"
"IMPORTANT: if you have not previously set this system up, use the\n"
"'reset' command to initialize the EEPROM to sensible default values\n"
@ -34,7 +34,7 @@ int8_t Rover::setup_erase(uint8_t argc, const Menu::arg *argv)
{
int c;
cliSerial->printf_P("\nType 'Y' and hit Enter to erase all waypoint and parameter data, any other key to abort: ");
cliSerial->printf("\nType 'Y' and hit Enter to erase all waypoint and parameter data, any other key to abort: ");
do {
c = cliSerial->read();
@ -48,9 +48,9 @@ int8_t Rover::setup_erase(uint8_t argc, const Menu::arg *argv)
void Rover::zero_eeprom(void)
{
cliSerial->printf_P("\nErasing EEPROM\n");
cliSerial->printf("\nErasing EEPROM\n");
StorageManager::erase();
cliSerial->printf_P("done\n");
cliSerial->printf("done\n");
}
#endif // CLI_ENABLED

6
APMrover2/system.cpp
View File

@ -13,7 +13,7 @@ The init_ardupilot function processes everything we need for an in - air restart
// This is the help function
int8_t Rover::main_menu_help(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf_P("Commands:\n"
cliSerial->printf("Commands:\n"
" logs log readback/setup mode\n"
" setup setup mode\n"
" test test mode\n"
@ -83,7 +83,7 @@ void Rover::init_ardupilot()
// initialise console serial port
serial_manager.init_console();
cliSerial->printf_P("\n\nInit " FIRMWARE_STRING
cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
hal.util->available_memory());
@ -468,7 +468,7 @@ void Rover::print_mode(AP_HAL::BetterStream *port, uint8_t mode)
port->print("RTL");
break;
default:
port->printf_P("Mode(%u)", (unsigned)mode);
port->printf("Mode(%u)", (unsigned)mode);
break;
}
}

52
APMrover2/test.cpp
View File

@ -34,14 +34,14 @@ MENU(test_menu, "test", test_menu_commands);
int8_t Rover::test_mode(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf_P("Test Mode\n\n");
cliSerial->printf("Test Mode\n\n");
test_menu.run();
return 0;
}
void Rover::print_hit_enter()
{
cliSerial->printf_P("Hit Enter to exit.\n\n");
cliSerial->printf("Hit Enter to exit.\n\n");
}
int8_t Rover::test_radio_pwm(uint8_t argc, const Menu::arg *argv)
@ -56,7 +56,7 @@ int8_t Rover::test_radio_pwm(uint8_t argc, const Menu::arg *argv)
// ----------------------------------------------------------
read_radio();
cliSerial->printf_P("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
cliSerial->printf("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
channel_steer->radio_in,
g.rc_2.radio_in,
channel_throttle->radio_in,
@ -118,7 +118,7 @@ int8_t Rover::test_radio(uint8_t argc, const Menu::arg *argv)
// ------------------------------
set_servos();
cliSerial->printf_P("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
cliSerial->printf("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
channel_steer->control_in,
g.rc_2.control_in,
channel_throttle->control_in,
@ -149,7 +149,7 @@ int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
oldSwitchPosition = readSwitch();
cliSerial->printf_P("Unplug battery, throttle in neutral, turn off radio.\n");
cliSerial->printf("Unplug battery, throttle in neutral, turn off radio.\n");
while(channel_throttle->control_in > 0){
delay(20);
read_radio();
@ -160,19 +160,19 @@ int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
read_radio();
if(channel_throttle->control_in > 0){
cliSerial->printf_P("THROTTLE CHANGED %d \n", channel_throttle->control_in);
cliSerial->printf("THROTTLE CHANGED %d \n", channel_throttle->control_in);
fail_test++;
}
if (oldSwitchPosition != readSwitch()){
cliSerial->printf_P("CONTROL MODE CHANGED: ");
cliSerial->printf("CONTROL MODE CHANGED: ");
print_mode(cliSerial, readSwitch());
cliSerial->println();
fail_test++;
}
if(throttle_failsafe_active()) {
cliSerial->printf_P("THROTTLE FAILSAFE ACTIVATED: %d, ", channel_throttle->radio_in);
cliSerial->printf("THROTTLE FAILSAFE ACTIVATED: %d, ", channel_throttle->radio_in);
print_mode(cliSerial, readSwitch());
cliSerial->println();
fail_test++;
@ -182,7 +182,7 @@ int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
return (0);
}
if(cliSerial->available() > 0){
cliSerial->printf_P("LOS caused no change in APM.\n");
cliSerial->printf("LOS caused no change in APM.\n");
return (0);
}
}
@ -194,14 +194,14 @@ int8_t Rover::test_relay(uint8_t argc, const Menu::arg *argv)
delay(1000);
while(1){
cliSerial->printf_P("Relay on\n");
cliSerial->printf("Relay on\n");
relay.on(0);
delay(3000);
if(cliSerial->available() > 0){
return (0);
}
cliSerial->printf_P("Relay off\n");
cliSerial->printf("Relay off\n");
relay.off(0);
delay(3000);
if(cliSerial->available() > 0){
@ -214,8 +214,8 @@ int8_t Rover::test_wp(uint8_t argc, const Menu::arg *argv)
{
delay(1000);
cliSerial->printf_P("%u waypoints\n", (unsigned)mission.num_commands());
cliSerial->printf_P("Hit radius: %f\n", g.waypoint_radius);
cliSerial->printf("%u waypoints\n", (unsigned)mission.num_commands());
cliSerial->printf("Hit radius: %f\n", g.waypoint_radius);
for(uint8_t i = 0; i < mission.num_commands(); i++){
AP_Mission::Mission_Command temp_cmd;
@ -229,7 +229,7 @@ int8_t Rover::test_wp(uint8_t argc, const Menu::arg *argv)
void Rover::test_wp_print(const AP_Mission::Mission_Command& cmd)
{
cliSerial->printf_P("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n",
cliSerial->printf("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n",
(int)cmd.index,
(int)cmd.id,
(int)cmd.content.location.options,
@ -244,7 +244,7 @@ int8_t Rover::test_modeswitch(uint8_t argc, const Menu::arg *argv)
print_hit_enter();
delay(1000);
cliSerial->printf_P("Control CH ");
cliSerial->printf("Control CH ");
cliSerial->println(MODE_CHANNEL, BASE_DEC);
@ -252,7 +252,7 @@ int8_t Rover::test_modeswitch(uint8_t argc, const Menu::arg *argv)
delay(20);
uint8_t switchPosition = readSwitch();
if (oldSwitchPosition != switchPosition){
cliSerial->printf_P("Position %d\n", switchPosition);
cliSerial->printf("Position %d\n", switchPosition);
oldSwitchPosition = switchPosition;
}
if(cliSerial->available() > 0){
@ -289,13 +289,13 @@ int8_t Rover::test_gps(uint8_t argc, const Menu::arg *argv)
if (gps.last_message_time_ms() != last_message_time_ms) {
last_message_time_ms = gps.last_message_time_ms();
const Location &loc = gps.location();
cliSerial->printf_P("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n",
cliSerial->printf("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n",
(long)loc.lat,
(long)loc.lng,
(long)loc.alt/100,
(int)gps.num_sats());
} else {
cliSerial->printf_P(".");
cliSerial->printf(".");
}
if(cliSerial->available() > 0) {
return (0);
@ -305,7 +305,7 @@ int8_t Rover::test_gps(uint8_t argc, const Menu::arg *argv)
int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
{
//cliSerial->printf_P("Calibrating.");
//cliSerial->printf("Calibrating.");
ahrs.init();
ahrs.set_fly_forward(true);
ins.init(ins_sample_rate);
@ -333,7 +333,7 @@ int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
// ---------------------
Vector3f gyros = ins.get_gyro();
Vector3f accels = ins.get_accel();
cliSerial->printf_P("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n",
cliSerial->printf("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n",
(int)ahrs.roll_sensor / 100,
(int)ahrs.pitch_sensor / 100,
(uint16_t)ahrs.yaw_sensor / 100,
@ -348,16 +348,16 @@ int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
void Rover::print_enabled(bool b)
{
if(b)
cliSerial->printf_P("en");
cliSerial->printf("en");
else
cliSerial->printf_P("dis");
cliSerial->printf_P("abled\n");
cliSerial->printf("dis");
cliSerial->printf("abled\n");
}
int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
{
if (!g.compass_enabled) {
cliSerial->printf_P("Compass: ");
cliSerial->printf("Compass: ");
print_enabled(false);
return (0);
}
@ -401,7 +401,7 @@ int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
if (compass.healthy()) {
const Vector3f mag_ofs = compass.get_offsets();
const Vector3f mag = compass.get_field();
cliSerial->printf_P("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
cliSerial->printf("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
(wrap_360_cd(ToDeg(heading) * 100)) /100,
(double)mag.x, (double)mag.y, (double)mag.z,
(double)mag_ofs.x, (double)mag_ofs.y, (double)mag_ofs.z);
@ -473,7 +473,7 @@ int8_t Rover::test_sonar(uint8_t argc, const Menu::arg *argv)
voltage2_max = max(voltage2_max, voltage);
if (now - last_print >= 200) {
cliSerial->printf_P("sonar1 dist=%.1f:%.1fcm volt1=%.2f:%.2f sonar2 dist=%.1f:%.1fcm volt2=%.2f:%.2f\n",
cliSerial->printf("sonar1 dist=%.1f:%.1fcm volt1=%.2f:%.2f sonar2 dist=%.1f:%.1fcm volt2=%.2f:%.2f\n",
(double)sonar_dist_cm_min,
(double)sonar_dist_cm_max,
(double)voltage_min,

4
AntennaTracker/Parameters.cpp
View File

@ -288,7 +288,7 @@ void Tracker::load_parameters(void)
g.format_version != Parameters::k_format_version) {
// erase all parameters
hal.console->printf_P("Firmware change: erasing EEPROM...\n");
hal.console->printf("Firmware change: erasing EEPROM...\n");
AP_Param::erase_all();
// save the current format version
@ -298,6 +298,6 @@ void Tracker::load_parameters(void)
uint32_t before = hal.scheduler->micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
hal.console->printf_P("load_all took %luus\n", (unsigned long)(hal.scheduler->micros() - before));
hal.console->printf("load_all took %luus\n", (unsigned long)(hal.scheduler->micros() - before));
}
}

2
AntennaTracker/system.cpp
View File

@ -20,7 +20,7 @@ void Tracker::init_tracker()
// initialise console serial port
serial_manager.init_console();
hal.console->printf_P("\n\nInit " THISFIRMWARE
hal.console->printf("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %u\n",
hal.util->available_memory());

42
ArduCopter/Log.cpp
View File

@ -25,26 +25,26 @@ MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&copter, &Copter::print_l
bool Copter::print_log_menu(void)
{
cliSerial->printf_P("logs enabled: ");
cliSerial->printf("logs enabled: ");
if (0 == g.log_bitmask) {
cliSerial->printf_P("none");
cliSerial->printf("none");
}else{
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) cliSerial->printf_P(" ATTITUDE_FAST");
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) cliSerial->printf_P(" ATTITUDE_MED");
if (g.log_bitmask & MASK_LOG_GPS) cliSerial->printf_P(" GPS");
if (g.log_bitmask & MASK_LOG_PM) cliSerial->printf_P(" PM");
if (g.log_bitmask & MASK_LOG_CTUN) cliSerial->printf_P(" CTUN");
if (g.log_bitmask & MASK_LOG_NTUN) cliSerial->printf_P(" NTUN");
if (g.log_bitmask & MASK_LOG_RCIN) cliSerial->printf_P(" RCIN");
if (g.log_bitmask & MASK_LOG_IMU) cliSerial->printf_P(" IMU");
if (g.log_bitmask & MASK_LOG_CMD) cliSerial->printf_P(" CMD");
if (g.log_bitmask & MASK_LOG_CURRENT) cliSerial->printf_P(" CURRENT");
if (g.log_bitmask & MASK_LOG_RCOUT) cliSerial->printf_P(" RCOUT");
if (g.log_bitmask & MASK_LOG_OPTFLOW) cliSerial->printf_P(" OPTFLOW");
if (g.log_bitmask & MASK_LOG_COMPASS) cliSerial->printf_P(" COMPASS");
if (g.log_bitmask & MASK_LOG_CAMERA) cliSerial->printf_P(" CAMERA");
if (g.log_bitmask & MASK_LOG_PID) cliSerial->printf_P(" PID");
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) cliSerial->printf(" ATTITUDE_FAST");
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) cliSerial->printf(" ATTITUDE_MED");
if (g.log_bitmask & MASK_LOG_GPS) cliSerial->printf(" GPS");
if (g.log_bitmask & MASK_LOG_PM) cliSerial->printf(" PM");
if (g.log_bitmask & MASK_LOG_CTUN) cliSerial->printf(" CTUN");
if (g.log_bitmask & MASK_LOG_NTUN) cliSerial->printf(" NTUN");
if (g.log_bitmask & MASK_LOG_RCIN) cliSerial->printf(" RCIN");
if (g.log_bitmask & MASK_LOG_IMU) cliSerial->printf(" IMU");
if (g.log_bitmask & MASK_LOG_CMD) cliSerial->printf(" CMD");
if (g.log_bitmask & MASK_LOG_CURRENT) cliSerial->printf(" CURRENT");
if (g.log_bitmask & MASK_LOG_RCOUT) cliSerial->printf(" RCOUT");
if (g.log_bitmask & MASK_LOG_OPTFLOW) cliSerial->printf(" OPTFLOW");
if (g.log_bitmask & MASK_LOG_COMPASS) cliSerial->printf(" COMPASS");
if (g.log_bitmask & MASK_LOG_CAMERA) cliSerial->printf(" CAMERA");
if (g.log_bitmask & MASK_LOG_PID) cliSerial->printf(" PID");
}
cliSerial->println();
@ -68,11 +68,11 @@ int8_t Copter::dump_log(uint8_t argc, const Menu::arg *argv)
DataFlash.DumpPageInfo(cliSerial);
return(-1);
} else if (dump_log_num <= 0) {
cliSerial->printf_P("dumping all\n");
cliSerial->printf("dumping all\n");
Log_Read(0, 1, 0);
return(-1);
} else if ((argc != 2) || ((uint16_t)dump_log_num > DataFlash.get_num_logs())) {
cliSerial->printf_P("bad log number\n");
cliSerial->printf("bad log number\n");
return(-1);
}
@ -95,7 +95,7 @@ int8_t Copter::select_logs(uint8_t argc, const Menu::arg *argv)
uint16_t bits;
if (argc != 2) {
cliSerial->printf_P("missing log type\n");
cliSerial->printf("missing log type\n");
return(-1);
}
@ -767,7 +767,7 @@ const struct LogStructure Copter::log_structure[] = {
// Read the DataFlash log memory
void Copter::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page)
{
cliSerial->printf_P("\n" FIRMWARE_STRING
cliSerial->printf("\n" FIRMWARE_STRING
"\nFree RAM: %u\n"
"\nFrame: " FRAME_CONFIG_STRING "\n",
(unsigned) hal.util->available_memory());

6
ArduCopter/Parameters.cpp
View File

@ -1148,7 +1148,7 @@ const AP_Param::ConversionInfo conversion_table[] = {
void Copter::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
cliSerial->printf_P("Bad var table\n");
cliSerial->printf("Bad var table\n");
hal.scheduler->panic("Bad var table");
}
@ -1160,7 +1160,7 @@ void Copter::load_parameters(void)
g.format_version != Parameters::k_format_version) {
// erase all parameters
cliSerial->printf_P("Firmware change: erasing EEPROM...\n");
cliSerial->printf("Firmware change: erasing EEPROM...\n");
AP_Param::erase_all();
// save the current format version
@ -1171,6 +1171,6 @@ void Copter::load_parameters(void)
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
cliSerial->printf_P("load_all took %luus\n", micros() - before);
cliSerial->printf("load_all took %luus\n", micros() - before);
}
}

2
ArduCopter/flight_mode.cpp
View File

@ -363,7 +363,7 @@ void Copter::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
port->print("BRAKE");
break;
default:
port->printf_P("Mode(%u)", (unsigned)mode);
port->printf("Mode(%u)", (unsigned)mode);
break;
}
}

110
ArduCopter/setup.cpp
View File

@ -25,7 +25,7 @@ MENU(setup_menu, "setup", setup_menu_commands);
int8_t Copter::setup_mode(uint8_t argc, const Menu::arg *argv)
{
// Give the user some guidance
cliSerial->printf_P("Setup Mode\n\n\n");
cliSerial->printf("Setup Mode\n\n\n");
// Run the setup menu. When the menu exits, we will return to the main menu.
setup_menu.run();
@ -38,7 +38,7 @@ int8_t Copter::setup_factory(uint8_t argc, const Menu::arg *argv)
{
int16_t c;
cliSerial->printf_P("\n'Y' = factory reset, any other key to abort:\n");
cliSerial->printf("\n'Y' = factory reset, any other key to abort:\n");
do {
c = cliSerial->read();
@ -48,7 +48,7 @@ int8_t Copter::setup_factory(uint8_t argc, const Menu::arg *argv)
return(-1);
AP_Param::erase_all();
cliSerial->printf_P("\nReboot board");
cliSerial->printf("\nReboot board");
delay(1000);
@ -70,14 +70,14 @@ int8_t Copter::setup_set(uint8_t argc, const Menu::arg *argv)
if(argc!=3)
{
cliSerial->printf_P("Invalid command. Usage: set <name> <value>\n");
cliSerial->printf("Invalid command. Usage: set <name> <value>\n");
return 0;
}
param = AP_Param::find(argv[1].str, &p_type);
if(!param)
{
cliSerial->printf_P("Param not found: %s\n", argv[1].str);
cliSerial->printf("Param not found: %s\n", argv[1].str);
return 0;
}
@ -87,7 +87,7 @@ int8_t Copter::setup_set(uint8_t argc, const Menu::arg *argv)
value_int8 = (int8_t)(argv[2].i);
if(argv[2].i!=value_int8)
{
cliSerial->printf_P("Value out of range for type INT8\n");
cliSerial->printf("Value out of range for type INT8\n");
return 0;
}
((AP_Int8*)param)->set_and_save(value_int8);
@ -96,7 +96,7 @@ int8_t Copter::setup_set(uint8_t argc, const Menu::arg *argv)
value_int16 = (int16_t)(argv[2].i);
if(argv[2].i!=value_int16)
{
cliSerial->printf_P("Value out of range for type INT16\n");
cliSerial->printf("Value out of range for type INT16\n");
return 0;
}
((AP_Int16*)param)->set_and_save(value_int16);
@ -110,7 +110,7 @@ int8_t Copter::setup_set(uint8_t argc, const Menu::arg *argv)
((AP_Float*)param)->set_and_save(argv[2].f);
break;
default:
cliSerial->printf_P("Cannot set parameter of type %d.\n", p_type);
cliSerial->printf("Cannot set parameter of type %d.\n", p_type);
break;
}
@ -132,7 +132,7 @@ int8_t Copter::setup_show(uint8_t argc, const Menu::arg *argv)
if(!param)
{
cliSerial->printf_P("Parameter not found: '%s'\n", argv[1]);
cliSerial->printf("Parameter not found: '%s'\n", argv[1]);
return 0;
}
AP_Param::show(param, argv[1].str, type, cliSerial);
@ -177,7 +177,7 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
if (argc < 2) {
cliSerial->printf_P("Pls provide Channel Mask\n"
cliSerial->printf("Pls provide Channel Mask\n"
"\tusage: esc_calib 1010 - enables calibration for 2nd and 4th Motor\n");
return(0);
}
@ -186,14 +186,14 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
set_mask = strtol (argv[1].str, NULL, 2);
if (set_mask == 0)
cliSerial->printf_P("no channels chosen");
//cliSerial->printf_P("\n%d\n",set_mask);
cliSerial->printf("no channels chosen");
//cliSerial->printf("\n%d\n",set_mask);
set_mask<<=1;
/* wait 50 ms */
hal.scheduler->delay(50);
cliSerial->printf_P("\nATTENTION, please remove or fix propellers before starting calibration!\n"
cliSerial->printf("\nATTENTION, please remove or fix propellers before starting calibration!\n"
"\n"
"Make sure\n"
"\t - that the ESCs are not powered\n"
@ -210,11 +210,11 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
cliSerial->printf_P("ESC calibration exited\n");
cliSerial->printf("ESC calibration exited\n");
return(0);
} else if (c == 'n' || c == 'N') {
cliSerial->printf_P("ESC calibration aborted\n");
cliSerial->printf("ESC calibration aborted\n");
return(0);
}
@ -231,11 +231,11 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
motors.armed(true);
cliSerial->printf_P("Outputs armed\n");
cliSerial->printf("Outputs armed\n");
/* wait for user confirmation */
cliSerial->printf_P("\nHigh PWM set: %d\n"
cliSerial->printf("\nHigh PWM set: %d\n"
"\n"
"Connect battery now and hit c+ENTER after the ESCs confirm the first calibration step\n"
"\n", pwm_high);
@ -254,7 +254,7 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
cliSerial->printf_P("ESC calibration exited\n");
cliSerial->printf("ESC calibration exited\n");
return(0);
}
@ -262,7 +262,7 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
hal.scheduler->delay(50);
}
cliSerial->printf_P("Low PWM set: %d\n"
cliSerial->printf("Low PWM set: %d\n"
"\n"
"Hit c+Enter when finished\n"
"\n", pwm_low);
@ -282,7 +282,7 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
cliSerial->printf_P("ESC calibration exited\n");
cliSerial->printf("ESC calibration exited\n");
return(0);
}
@ -293,9 +293,9 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
/* disarm */
motors.armed(false);
cliSerial->printf_P("Outputs disarmed\n");
cliSerial->printf("Outputs disarmed\n");
cliSerial->printf_P("ESC calibration finished\n");
cliSerial->printf("ESC calibration finished\n");
return(0);
}
@ -308,35 +308,35 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
void Copter::report_batt_monitor()
{
cliSerial->printf_P("\nBatt Mon:\n");
cliSerial->printf("\nBatt Mon:\n");
print_divider();
if (battery.num_instances() == 0) {
print_enabled(false);
} else if (!battery.has_current()) {
cliSerial->printf_P("volts");
cliSerial->printf("volts");
} else {
cliSerial->printf_P("volts and cur");
cliSerial->printf("volts and cur");
}
print_blanks(2);
}
void Copter::report_frame()
{
cliSerial->printf_P("Frame\n");
cliSerial->printf("Frame\n");
print_divider();
#if FRAME_CONFIG == QUAD_FRAME
cliSerial->printf_P("Quad frame\n");
cliSerial->printf("Quad frame\n");
#elif FRAME_CONFIG == TRI_FRAME
cliSerial->printf_P("TRI frame\n");
cliSerial->printf("TRI frame\n");
#elif FRAME_CONFIG == HEXA_FRAME
cliSerial->printf_P("Hexa frame\n");
cliSerial->printf("Hexa frame\n");
#elif FRAME_CONFIG == Y6_FRAME
cliSerial->printf_P("Y6 frame\n");
cliSerial->printf("Y6 frame\n");
#elif FRAME_CONFIG == OCTA_FRAME
cliSerial->printf_P("Octa frame\n");
cliSerial->printf("Octa frame\n");
#elif FRAME_CONFIG == HELI_FRAME
cliSerial->printf_P("Heli frame\n");
cliSerial->printf("Heli frame\n");
#endif
print_blanks(2);
@ -344,7 +344,7 @@ void Copter::report_frame()
void Copter::report_radio()
{
cliSerial->printf_P("Radio\n");
cliSerial->printf("Radio\n");
print_divider();
// radio
print_radio_values();
@ -353,7 +353,7 @@ void Copter::report_radio()
void Copter::report_ins()
{
cliSerial->printf_P("INS\n");
cliSerial->printf("INS\n");
print_divider();
print_gyro_offsets();
@ -363,7 +363,7 @@ void Copter::report_ins()
void Copter::report_flight_modes()
{
cliSerial->printf_P("Flight modes\n");
cliSerial->printf("Flight modes\n");
print_divider();
for(int16_t i = 0; i < 6; i++ ) {
@ -375,7 +375,7 @@ void Copter::report_flight_modes()
void Copter::report_optflow()
{
#if OPTFLOW == ENABLED
cliSerial->printf_P("OptFlow\n");
cliSerial->printf("OptFlow\n");
print_divider();
print_enabled(optflow.enabled());
@ -390,32 +390,32 @@ void Copter::report_optflow()
void Copter::print_radio_values()
{
cliSerial->printf_P("CH1: %d | %d\n", (int)channel_roll->radio_min, (int)channel_roll->radio_max);
cliSerial->printf_P("CH2: %d | %d\n", (int)channel_pitch->radio_min, (int)channel_pitch->radio_max);
cliSerial->printf_P("CH3: %d | %d\n", (int)channel_throttle->radio_min, (int)channel_throttle->radio_max);
cliSerial->printf_P("CH4: %d | %d\n", (int)channel_yaw->radio_min, (int)channel_yaw->radio_max);
cliSerial->printf_P("CH5: %d | %d\n", (int)g.rc_5.radio_min, (int)g.rc_5.radio_max);
cliSerial->printf_P("CH6: %d | %d\n", (int)g.rc_6.radio_min, (int)g.rc_6.radio_max);
cliSerial->printf_P("CH7: %d | %d\n", (int)g.rc_7.radio_min, (int)g.rc_7.radio_max);
cliSerial->printf_P("CH8: %d | %d\n", (int)g.rc_8.radio_min, (int)g.rc_8.radio_max);
cliSerial->printf("CH1: %d | %d\n", (int)channel_roll->radio_min, (int)channel_roll->radio_max);
cliSerial->printf("CH2: %d | %d\n", (int)channel_pitch->radio_min, (int)channel_pitch->radio_max);
cliSerial->printf("CH3: %d | %d\n", (int)channel_throttle->radio_min, (int)channel_throttle->radio_max);
cliSerial->printf("CH4: %d | %d\n", (int)channel_yaw->radio_min, (int)channel_yaw->radio_max);
cliSerial->printf("CH5: %d | %d\n", (int)g.rc_5.radio_min, (int)g.rc_5.radio_max);
cliSerial->printf("CH6: %d | %d\n", (int)g.rc_6.radio_min, (int)g.rc_6.radio_max);
cliSerial->printf("CH7: %d | %d\n", (int)g.rc_7.radio_min, (int)g.rc_7.radio_max);
cliSerial->printf("CH8: %d | %d\n", (int)g.rc_8.radio_min, (int)g.rc_8.radio_max);
}
void Copter::print_switch(uint8_t p, uint8_t m, bool b)
{
cliSerial->printf_P("Pos %d:\t",p);
cliSerial->printf("Pos %d:\t",p);
print_flight_mode(cliSerial, m);
cliSerial->printf_P(",\t\tSimple: ");
cliSerial->printf(",\t\tSimple: ");
if(b)
cliSerial->printf_P("ON\n");
cliSerial->printf("ON\n");
else
cliSerial->printf_P("OFF\n");
cliSerial->printf("OFF\n");
}
void Copter::print_accel_offsets_and_scaling(void)
{
const Vector3f &accel_offsets = ins.get_accel_offsets();
const Vector3f &accel_scale = ins.get_accel_scale();
cliSerial->printf_P("A_off: %4.2f, %4.2f, %4.2f\nA_scale: %4.2f, %4.2f, %4.2f\n",
cliSerial->printf("A_off: %4.2f, %4.2f, %4.2f\nA_scale: %4.2f, %4.2f, %4.2f\n",
(double)accel_offsets.x, // Pitch
(double)accel_offsets.y, // Roll
(double)accel_offsets.z, // YAW
@ -427,7 +427,7 @@ void Copter::print_accel_offsets_and_scaling(void)
void Copter::print_gyro_offsets(void)
{
const Vector3f &gyro_offsets = ins.get_gyro_offsets();
cliSerial->printf_P("G_off: %4.2f, %4.2f, %4.2f\n",
cliSerial->printf("G_off: %4.2f, %4.2f, %4.2f\n",
(double)gyro_offsets.x,
(double)gyro_offsets.y,
(double)gyro_offsets.z);
@ -438,13 +438,13 @@ void Copter::print_gyro_offsets(void)
// report_compass - displays compass information. Also called by compassmot.pde
void Copter::report_compass()
{
cliSerial->printf_P("Compass\n");
cliSerial->printf("Compass\n");
print_divider();
print_enabled(g.compass_enabled);
// mag declination
cliSerial->printf_P("Mag Dec: %4.4f\n",
cliSerial->printf("Mag Dec: %4.4f\n",
(double)degrees(compass.get_declination()));
// mag offsets
@ -452,7 +452,7 @@ void Copter::report_compass()
for (uint8_t i=0; i<compass.get_count(); i++) {
offsets = compass.get_offsets(i);
// mag offsets
cliSerial->printf_P("Mag%d off: %4.4f, %4.4f, %4.4f\n",
cliSerial->printf("Mag%d off: %4.4f, %4.4f, %4.4f\n",
(int)i,
(double)offsets.x,
(double)offsets.y,
@ -473,7 +473,7 @@ void Copter::report_compass()
Vector3f motor_compensation;
for (uint8_t i=0; i<compass.get_count(); i++) {
motor_compensation = compass.get_motor_compensation(i);
cliSerial->printf_P("\nComMot%d: %4.2f, %4.2f, %4.2f\n",
cliSerial->printf("\nComMot%d: %4.2f, %4.2f, %4.2f\n",
(int)i,
(double)motor_compensation.x,
(double)motor_compensation.y,
@ -510,7 +510,7 @@ void Copter::print_enabled(bool b)
void Copter::report_version()
{
cliSerial->printf_P("FW Ver: %d\n",(int)g.k_format_version);
cliSerial->printf("FW Ver: %d\n",(int)g.k_format_version);
print_divider();
print_blanks(2);
}

4
ArduCopter/system.cpp
View File

@ -14,7 +14,7 @@
// This is the help function
int8_t Copter::main_menu_help(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf_P("Commands:\n"
cliSerial->printf("Commands:\n"
" logs\n"
" setup\n"
" test\n"
@ -94,7 +94,7 @@ void Copter::init_ardupilot()
// initialise serial port
serial_manager.init_console();
cliSerial->printf_P("\n\nInit " FIRMWARE_STRING
cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
hal.util->available_memory());

30
ArduCopter/test.cpp
View File

@ -46,7 +46,7 @@ int8_t Copter::test_baro(uint8_t argc, const Menu::arg *argv)
if (!barometer.healthy()) {
cliSerial->println("not healthy");
} else {
cliSerial->printf_P("Alt: %0.2fm, Raw: %f Temperature: %.1f\n",
cliSerial->printf("Alt: %0.2fm, Raw: %f Temperature: %.1f\n",
(double)(baro_alt / 100.0f),
(double)barometer.get_pressure(),
(double)barometer.get_temperature());
@ -65,7 +65,7 @@ int8_t Copter::test_compass(uint8_t argc, const Menu::arg *argv)
uint8_t medium_loopCounter = 0;
if (!g.compass_enabled) {
cliSerial->printf_P("Compass: ");
cliSerial->printf("Compass: ");
print_enabled(false);
return (0);
}
@ -118,7 +118,7 @@ int8_t Copter::test_compass(uint8_t argc, const Menu::arg *argv)
if (compass.healthy()) {
const Vector3f &mag_ofs = compass.get_offsets();
const Vector3f &mag = compass.get_field();
cliSerial->printf_P("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
cliSerial->printf("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
(wrap_360_cd(ToDeg(heading) * 100)) /100,
(double)mag.x,
(double)mag.y,
@ -148,12 +148,12 @@ int8_t Copter::test_ins(uint8_t argc, const Menu::arg *argv)
{
Vector3f gyro, accel;
print_hit_enter();
cliSerial->printf_P("INS\n");
cliSerial->printf("INS\n");
delay(1000);
ahrs.init();
ins.init(ins_sample_rate);
cliSerial->printf_P("...done\n");
cliSerial->printf("...done\n");
delay(50);
@ -164,7 +164,7 @@ int8_t Copter::test_ins(uint8_t argc, const Menu::arg *argv)
float test = accel.length() / GRAVITY_MSS;
cliSerial->printf_P("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %7.4f \n",
cliSerial->printf("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %7.4f \n",
(double)accel.x, (double)accel.y, (double)accel.z,
(double)gyro.x, (double)gyro.y, (double)gyro.z,
(double)test);
@ -180,14 +180,14 @@ int8_t Copter::test_optflow(uint8_t argc, const Menu::arg *argv)
{
#if OPTFLOW == ENABLED
if(optflow.enabled()) {
cliSerial->printf_P("dev id: %d\t",(int)optflow.device_id());
cliSerial->printf("dev id: %d\t",(int)optflow.device_id());
print_hit_enter();
while(1) {
delay(200);
optflow.update();
const Vector2f& flowRate = optflow.flowRate();
cliSerial->printf_P("flowX : %7.4f\t flowY : %7.4f\t flow qual : %d\n",
cliSerial->printf("flowX : %7.4f\t flowY : %7.4f\t flow qual : %d\n",
(double)flowRate.x,
(double)flowRate.y,
(int)optflow.quality());
@ -197,7 +197,7 @@ int8_t Copter::test_optflow(uint8_t argc, const Menu::arg *argv)
}
}
} else {
cliSerial->printf_P("OptFlow: ");
cliSerial->printf("OptFlow: ");
print_enabled(false);
}
return (0);
@ -212,14 +212,14 @@ int8_t Copter::test_relay(uint8_t argc, const Menu::arg *argv)
delay(1000);
while(1) {
cliSerial->printf_P("Relay on\n");
cliSerial->printf("Relay on\n");
relay.on(0);
delay(3000);
if(cliSerial->available() > 0) {
return (0);
}
cliSerial->printf_P("Relay off\n");
cliSerial->printf("Relay off\n");
relay.off(0);
delay(3000);
if(cliSerial->available() > 0) {
@ -248,15 +248,15 @@ int8_t Copter::test_sonar(uint8_t argc, const Menu::arg *argv)
#if CONFIG_SONAR == ENABLED
sonar.init();
cliSerial->printf_P("RangeFinder: %d devices detected\n", sonar.num_sensors());
cliSerial->printf("RangeFinder: %d devices detected\n", sonar.num_sensors());
print_hit_enter();
while(1) {
delay(100);
sonar.update();
cliSerial->printf_P("Primary: status %d distance_cm %d \n", (int)sonar.status(), sonar.distance_cm());
cliSerial->printf_P("All: device_0 type %d status %d distance_cm %d, device_1 type %d status %d distance_cm %d\n",
cliSerial->printf("Primary: status %d distance_cm %d \n", (int)sonar.status(), sonar.distance_cm());
cliSerial->printf("All: device_0 type %d status %d distance_cm %d, device_1 type %d status %d distance_cm %d\n",
(int)sonar._type[0], (int)sonar.status(0), sonar.distance_cm(0), (int)sonar._type[1], (int)sonar.status(1), sonar.distance_cm(1));
if(cliSerial->available() > 0) {
@ -270,7 +270,7 @@ int8_t Copter::test_sonar(uint8_t argc, const Menu::arg *argv)
void Copter::print_hit_enter()
{
cliSerial->printf_P("Hit Enter to exit.\n\n");
cliSerial->printf("Hit Enter to exit.\n\n");
}
#endif // CLI_ENABLED

10
ArduPlane/Log.cpp
View File

@ -33,7 +33,7 @@ bool Plane::print_log_menu(void)
// Pass it the capitalised name of the log option, as defined
// in defines.h but without the LOG_ prefix. It will check for
// the bit being set and print the name of the log option to suit.
#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf_P(" %S", # _s)
#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf(" %S", # _s)
PLOG(ATTITUDE_FAST);
PLOG(ATTITUDE_MED);
PLOG(GPS);
@ -71,11 +71,11 @@ int8_t Plane::dump_log(uint8_t argc, const Menu::arg *argv)
DataFlash.DumpPageInfo(cliSerial);
return(-1);
} else if (dump_log_num <= 0) {
cliSerial->printf_P("dumping all\n");
cliSerial->printf("dumping all\n");
Log_Read(0, 1, 0);
return(-1);
} else if ((argc != 2) || ((uint16_t)dump_log_num > DataFlash.get_num_logs())) {
cliSerial->printf_P("bad log number\n");
cliSerial->printf("bad log number\n");
return(-1);
}
@ -97,7 +97,7 @@ int8_t Plane::select_logs(uint8_t argc, const Menu::arg *argv)
uint32_t bits;
if (argc != 2) {
cliSerial->printf_P("missing log type\n");
cliSerial->printf("missing log type\n");
return(-1);
}
@ -504,7 +504,7 @@ static const struct LogStructure log_structure[] = {
// Read the DataFlash.log memory : Packet Parser
void Plane::Log_Read(uint16_t list_entry, int16_t start_page, int16_t end_page)
{
cliSerial->printf_P("\n" FIRMWARE_STRING
cliSerial->printf("\n" FIRMWARE_STRING
"\nFree RAM: %u\n",
(unsigned)hal.util->available_memory());

6
ArduPlane/Parameters.cpp
View File

@ -1259,14 +1259,14 @@ const AP_Param::ConversionInfo conversion_table[] = {
void Plane::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
cliSerial->printf_P("Bad parameter table\n");
cliSerial->printf("Bad parameter table\n");
hal.scheduler->panic("Bad parameter table");
}
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
cliSerial->printf_P("Firmware change: erasing EEPROM...\n");
cliSerial->printf("Firmware change: erasing EEPROM...\n");
AP_Param::erase_all();
// save the current format version
@ -1277,6 +1277,6 @@ void Plane::load_parameters(void)
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
cliSerial->printf_P("load_all took %luus\n", micros() - before);
cliSerial->printf("load_all took %luus\n", micros() - before);
}
}

12
ArduPlane/setup.cpp
View File

@ -19,7 +19,7 @@ MENU(setup_menu, "setup", setup_menu_commands);
int8_t Plane::setup_mode(uint8_t argc, const Menu::arg *argv)
{
// Give the user some guidance
cliSerial->printf_P("Setup Mode\n"
cliSerial->printf("Setup Mode\n"
"\n"
"IMPORTANT: if you have not previously set this system up, use the\n"
"'reset' command to initialize the EEPROM to sensible default values\n"
@ -37,7 +37,7 @@ int8_t Plane::setup_factory(uint8_t argc, const Menu::arg *argv)
{
int c;
cliSerial->printf_P("\nType 'Y' and hit Enter to perform factory reset, any other key to abort: ");
cliSerial->printf("\nType 'Y' and hit Enter to perform factory reset, any other key to abort: ");
do {
c = cliSerial->read();
@ -46,7 +46,7 @@ int8_t Plane::setup_factory(uint8_t argc, const Menu::arg *argv)
if (('y' != c) && ('Y' != c))
return(-1);
AP_Param::erase_all();
cliSerial->printf_P("\nFACTORY RESET complete - please reset board to continue");
cliSerial->printf("\nFACTORY RESET complete - please reset board to continue");
for (;; ) {
}
@ -59,7 +59,7 @@ int8_t Plane::setup_erase(uint8_t argc, const Menu::arg *argv)
{
int c;
cliSerial->printf_P("\nType 'Y' and hit Enter to erase all waypoint and parameter data, any other key to abort: ");
cliSerial->printf("\nType 'Y' and hit Enter to erase all waypoint and parameter data, any other key to abort: ");
do {
c = cliSerial->read();
@ -73,9 +73,9 @@ int8_t Plane::setup_erase(uint8_t argc, const Menu::arg *argv)
void Plane::zero_eeprom(void)
{
cliSerial->printf_P("\nErasing EEPROM\n");
cliSerial->printf("\nErasing EEPROM\n");
StorageManager::erase();
cliSerial->printf_P("done\n");
cliSerial->printf("done\n");
}
#endif // CLI_ENABLED

6
ArduPlane/system.cpp
View File

@ -14,7 +14,7 @@
// This is the help function
int8_t Plane::main_menu_help(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf_P("Commands:\n"
cliSerial->printf("Commands:\n"
" logs log readback/setup mode\n"
" setup setup mode\n"
" test test mode\n"
@ -83,7 +83,7 @@ void Plane::init_ardupilot()
// initialise serial port
serial_manager.init_console();
cliSerial->printf_P("\n\nInit " FIRMWARE_STRING
cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
hal.util->available_memory());
@ -675,7 +675,7 @@ void Plane::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
port->print("Guided");
break;
default:
port->printf_P("Mode(%u)", (unsigned)mode);
port->printf("Mode(%u)", (unsigned)mode);
break;
}
}

72
ArduPlane/test.cpp
View File

@ -40,14 +40,14 @@ MENU(test_menu, "test", test_menu_commands);
int8_t Plane::test_mode(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf_P("Test Mode\n\n");
cliSerial->printf("Test Mode\n\n");
test_menu.run();
return 0;
}
void Plane::print_hit_enter()
{
cliSerial->printf_P("Hit Enter to exit.\n\n");
cliSerial->printf("Hit Enter to exit.\n\n");
}
int8_t Plane::test_radio_pwm(uint8_t argc, const Menu::arg *argv)
@ -62,7 +62,7 @@ int8_t Plane::test_radio_pwm(uint8_t argc, const Menu::arg *argv)
// ----------------------------------------------------------
read_radio();
cliSerial->printf_P("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
cliSerial->printf("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
(int)channel_roll->radio_in,
(int)channel_pitch->radio_in,
(int)channel_throttle->radio_in,
@ -126,7 +126,7 @@ int8_t Plane::test_radio(uint8_t argc, const Menu::arg *argv)
// ------------------------------
set_servos();
cliSerial->printf_P("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
cliSerial->printf("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
(int)channel_roll->control_in,
(int)channel_pitch->control_in,
(int)channel_throttle->control_in,
@ -157,7 +157,7 @@ int8_t Plane::test_failsafe(uint8_t argc, const Menu::arg *argv)
oldSwitchPosition = readSwitch();
cliSerial->printf_P("Unplug battery, throttle in neutral, turn off radio.\n");
cliSerial->printf("Unplug battery, throttle in neutral, turn off radio.\n");
while(channel_throttle->control_in > 0) {
hal.scheduler->delay(20);
read_radio();
@ -168,19 +168,19 @@ int8_t Plane::test_failsafe(uint8_t argc, const Menu::arg *argv)
read_radio();
if(channel_throttle->control_in > 0) {
cliSerial->printf_P("THROTTLE CHANGED %d \n", (int)channel_throttle->control_in);
cliSerial->printf("THROTTLE CHANGED %d \n", (int)channel_throttle->control_in);
fail_test++;
}
if(oldSwitchPosition != readSwitch()) {
cliSerial->printf_P("CONTROL MODE CHANGED: ");
cliSerial->printf("CONTROL MODE CHANGED: ");
print_flight_mode(cliSerial, readSwitch());
cliSerial->println();
fail_test++;
}
if(rc_failsafe_active()) {
cliSerial->printf_P("THROTTLE FAILSAFE ACTIVATED: %d, ", (int)channel_throttle->radio_in);
cliSerial->printf("THROTTLE FAILSAFE ACTIVATED: %d, ", (int)channel_throttle->radio_in);
print_flight_mode(cliSerial, readSwitch());
cliSerial->println();
fail_test++;
@ -190,7 +190,7 @@ int8_t Plane::test_failsafe(uint8_t argc, const Menu::arg *argv)
return (0);
}
if(cliSerial->available() > 0) {
cliSerial->printf_P("LOS caused no change in APM.\n");
cliSerial->printf("LOS caused no change in APM.\n");
return (0);
}
}
@ -202,14 +202,14 @@ int8_t Plane::test_relay(uint8_t argc, const Menu::arg *argv)
hal.scheduler->delay(1000);
while(1) {
cliSerial->printf_P("Relay on\n");
cliSerial->printf("Relay on\n");
relay.on(0);
hal.scheduler->delay(3000);
if(cliSerial->available() > 0) {
return (0);
}
cliSerial->printf_P("Relay off\n");
cliSerial->printf("Relay off\n");
relay.off(0);
hal.scheduler->delay(3000);
if(cliSerial->available() > 0) {
@ -224,14 +224,14 @@ int8_t Plane::test_wp(uint8_t argc, const Menu::arg *argv)
// save the alitude above home option
if (g.RTL_altitude_cm < 0) {
cliSerial->printf_P("Hold current altitude\n");
cliSerial->printf("Hold current altitude\n");
}else{
cliSerial->printf_P("Hold altitude of %dm\n", (int)g.RTL_altitude_cm/100);
cliSerial->printf("Hold altitude of %dm\n", (int)g.RTL_altitude_cm/100);
}
cliSerial->printf_P("%d waypoints\n", (int)mission.num_commands());
cliSerial->printf_P("Hit radius: %d\n", (int)g.waypoint_radius);
cliSerial->printf_P("Loiter radius: %d\n\n", (int)g.loiter_radius);
cliSerial->printf("%d waypoints\n", (int)mission.num_commands());
cliSerial->printf("Hit radius: %d\n", (int)g.waypoint_radius);
cliSerial->printf("Loiter radius: %d\n\n", (int)g.loiter_radius);
for(uint8_t i = 0; i <= mission.num_commands(); i++) {
AP_Mission::Mission_Command temp_cmd;
@ -245,7 +245,7 @@ int8_t Plane::test_wp(uint8_t argc, const Menu::arg *argv)
void Plane::test_wp_print(const AP_Mission::Mission_Command& cmd)
{
cliSerial->printf_P("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n",
cliSerial->printf("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n",
(int)cmd.index,
(int)cmd.id,
(int)cmd.content.location.options,
@ -259,7 +259,7 @@ int8_t Plane::test_xbee(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
hal.scheduler->delay(1000);
cliSerial->printf_P("Begin XBee X-CTU Range and RSSI Test:\n");
cliSerial->printf("Begin XBee X-CTU Range and RSSI Test:\n");
while(1) {
@ -278,7 +278,7 @@ int8_t Plane::test_modeswitch(uint8_t argc, const Menu::arg *argv)
print_hit_enter();
hal.scheduler->delay(1000);
cliSerial->printf_P("Control CH ");
cliSerial->printf("Control CH ");
cliSerial->println(FLIGHT_MODE_CHANNEL, BASE_DEC);
@ -286,7 +286,7 @@ int8_t Plane::test_modeswitch(uint8_t argc, const Menu::arg *argv)
hal.scheduler->delay(20);
uint8_t switchPosition = readSwitch();
if (oldSwitchPosition != switchPosition) {
cliSerial->printf_P("Position %d\n", (int)switchPosition);
cliSerial->printf("Position %d\n", (int)switchPosition);
oldSwitchPosition = switchPosition;
}
if(cliSerial->available() > 0) {
@ -324,11 +324,11 @@ int8_t Plane::test_adc(uint8_t argc, const Menu::arg *argv)
print_hit_enter();
apm1_adc.Init();
hal.scheduler->delay(1000);
cliSerial->printf_P("ADC\n");
cliSerial->printf("ADC\n");
hal.scheduler->delay(1000);
while(1) {
for (int8_t i=0; i<9; i++) cliSerial->printf_P("%.1f\t",apm1_adc.Ch(i));
for (int8_t i=0; i<9; i++) cliSerial->printf("%.1f\t",apm1_adc.Ch(i));
cliSerial->println();
hal.scheduler->delay(100);
if(cliSerial->available() > 0) {
@ -352,13 +352,13 @@ int8_t Plane::test_gps(uint8_t argc, const Menu::arg *argv)
if (gps.last_message_time_ms() != last_message_time_ms) {
last_message_time_ms = gps.last_message_time_ms();
const Location &loc = gps.location();
cliSerial->printf_P("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n",
cliSerial->printf("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n",
(long)loc.lat,
(long)loc.lng,
(long)loc.alt/100,
(int)gps.num_sats());
} else {
cliSerial->printf_P(".");
cliSerial->printf(".");
}
if(cliSerial->available() > 0) {
return (0);
@ -368,7 +368,7 @@ int8_t Plane::test_gps(uint8_t argc, const Menu::arg *argv)
int8_t Plane::test_ins(uint8_t argc, const Menu::arg *argv)
{
//cliSerial->printf_P("Calibrating.");
//cliSerial->printf("Calibrating.");
ahrs.init();
ahrs.set_fly_forward(true);
ahrs.set_wind_estimation(true);
@ -402,7 +402,7 @@ int8_t Plane::test_ins(uint8_t argc, const Menu::arg *argv)
// ---------------------
Vector3f gyros = ins.get_gyro();
Vector3f accels = ins.get_accel();
cliSerial->printf_P("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n",
cliSerial->printf("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n",
(int)ahrs.roll_sensor / 100,
(int)ahrs.pitch_sensor / 100,
(uint16_t)ahrs.yaw_sensor / 100,
@ -419,7 +419,7 @@ int8_t Plane::test_ins(uint8_t argc, const Menu::arg *argv)
int8_t Plane::test_mag(uint8_t argc, const Menu::arg *argv)
{
if (!g.compass_enabled) {
cliSerial->printf_P("Compass: ");
cliSerial->printf("Compass: ");
print_enabled(false);
return (0);
}
@ -465,7 +465,7 @@ int8_t Plane::test_mag(uint8_t argc, const Menu::arg *argv)
if (compass.healthy()) {
const Vector3f &mag_ofs = compass.get_offsets();
const Vector3f &mag = compass.get_field();
cliSerial->printf_P("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
cliSerial->printf("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
(wrap_360_cd(ToDeg(heading) * 100)) /100,
(double)mag.x, (double)mag.y, (double)mag.z,
(double)mag_ofs.x, (double)mag_ofs.y, (double)mag_ofs.z);
@ -493,19 +493,19 @@ int8_t Plane::test_mag(uint8_t argc, const Menu::arg *argv)
int8_t Plane::test_airspeed(uint8_t argc, const Menu::arg *argv)
{
if (!airspeed.enabled()) {
cliSerial->printf_P("airspeed: ");
cliSerial->printf("airspeed: ");
print_enabled(false);
return (0);
}else{
print_hit_enter();
zero_airspeed(false);
cliSerial->printf_P("airspeed: ");
cliSerial->printf("airspeed: ");
print_enabled(true);
while(1) {
hal.scheduler->delay(20);
read_airspeed();
cliSerial->printf_P("%.1f m/s\n", (double)airspeed.get_airspeed());
cliSerial->printf("%.1f m/s\n", (double)airspeed.get_airspeed());
if(cliSerial->available() > 0) {
return (0);
@ -517,7 +517,7 @@ int8_t Plane::test_airspeed(uint8_t argc, const Menu::arg *argv)
int8_t Plane::test_pressure(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf_P("Uncalibrated relative airpressure\n");
cliSerial->printf("Uncalibrated relative airpressure\n");
print_hit_enter();
init_barometer();
@ -529,7 +529,7 @@ int8_t Plane::test_pressure(uint8_t argc, const Menu::arg *argv)
if (!barometer.healthy()) {
cliSerial->println("not healthy");
} else {
cliSerial->printf_P("Alt: %0.2fm, Raw: %f Temperature: %.1f\n",
cliSerial->printf("Alt: %0.2fm, Raw: %f Temperature: %.1f\n",
(double)barometer.get_altitude(),
(double)barometer.get_pressure(),
(double)barometer.get_temperature());
@ -544,11 +544,11 @@ int8_t Plane::test_pressure(uint8_t argc, const Menu::arg *argv)
void Plane::print_enabled(bool b)
{
if (b) {
cliSerial->printf_P("en");
cliSerial->printf("en");
} else {
cliSerial->printf_P("dis");
cliSerial->printf("dis");
}
cliSerial->printf_P("abled\n");
cliSerial->printf("abled\n");
}
#endif // CLI_ENABLED

2
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
View File

@ -82,7 +82,7 @@ void loop(void)
if (now - last_print >= 100000 /* 100ms : 10hz */) {
Vector3f drift = ahrs.get_gyro_drift();
hal.console->printf_P(
hal.console->printf(
"r:%4.1f p:%4.1f y:%4.1f "
"drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n",
ToDeg(ahrs.roll),

4
libraries/AP_Common/AP_Common.h
View File

@ -57,13 +57,13 @@
//
//#pragma GCC diagnostic error "-Wfloat-equal"
// The following is strictly for type-checking arguments to printf_P calls
// The following is strictly for type-checking arguments to printf calls
// in conjunction with a suitably modified Arduino IDE; never define for
// production as it generates bad code.
//
#if defined(PRINTF_FORMAT_WARNING_DEBUG)
# undef PSTR
# define PSTR(_x) _x // help the compiler with printf_P
# define PSTR(_x) _x // help the compiler with printf
# define float double // silence spurious format warnings for %f
#endif

4
libraries/AP_Common/examples/AP_Common/AP_Common.cpp
View File

@ -17,14 +17,14 @@ void test_high_low_byte(void)
for (i=0; i<=300; i++) {
high = HIGHBYTE(i);
low = LOWBYTE(i);
hal.console->printf_P("\ni:%u high:%u low:%u",(unsigned int)i, (unsigned int)high, (unsigned int)low);
hal.console->printf("\ni:%u high:%u low:%u",(unsigned int)i, (unsigned int)high, (unsigned int)low);
}
// test values from 300 to 65400 at increments of 200
for (i=301; i<=65400; i+=200) {
high = HIGHBYTE(i);
low = LOWBYTE(i);
hal.console->printf_P("\ni:%u high:%u low:%u",(unsigned int)i, (unsigned int)high, (unsigned int)low);
hal.console->printf("\ni:%u high:%u low:%u",(unsigned int)i, (unsigned int)high, (unsigned int)low);
}
}

22
libraries/AP_Compass/AP_Compass_HMC5843.cpp
View File

@ -276,17 +276,17 @@ AP_Compass_HMC5843::init()
hal.scheduler->suspend_timer_procs();
if (!_bus_sem || !_bus_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
hal.console->printf_P("HMC5843: Unable to get bus semaphore\n");
hal.console->printf("HMC5843: Unable to get bus semaphore\n");
goto fail_sem;
}
if (!_bus->configure()) {
hal.console->printf_P("HMC5843: Could not configure the bus\n");
hal.console->printf("HMC5843: Could not configure the bus\n");
goto errout;
}
if (!_detect_version()) {
hal.console->printf_P("HMC5843: Could not detect version\n");
hal.console->printf("HMC5843: Could not detect version\n");
goto errout;
}
@ -303,7 +303,7 @@ AP_Compass_HMC5843::init()
}
if (!_calibrate(calibration_gain, expected_x, expected_yz)) {
hal.console->printf_P("HMC5843: Could not calibrate sensor\n");
hal.console->printf("HMC5843: Could not calibrate sensor\n");
goto errout;
}
@ -313,7 +313,7 @@ AP_Compass_HMC5843::init()
}
if (!_bus->start_measurements()) {
hal.console->printf_P("HMC5843: Could not start measurements on bus\n");
hal.console->printf("HMC5843: Could not start measurements on bus\n");
goto errout;
}
_initialised = true;
@ -325,7 +325,7 @@ AP_Compass_HMC5843::init()
read();
#if 0
hal.console->printf_P("CalX: %.2f CalY: %.2f CalZ: %.2f\n",
hal.console->printf("CalX: %.2f CalY: %.2f CalZ: %.2f\n",
_scaling[0], _scaling[1], _scaling[2]);
#endif
@ -376,13 +376,13 @@ bool AP_Compass_HMC5843::_calibrate(uint8_t calibration_gain,
float cal[3];
// hal.console->printf_P("mag %d %d %d\n", _mag_x, _mag_y, _mag_z);
// hal.console->printf("mag %d %d %d\n", _mag_x, _mag_y, _mag_z);
cal[0] = fabsf(expected_x / (float)_mag_x);
cal[1] = fabsf(expected_yz / (float)_mag_y);
cal[2] = fabsf(expected_yz / (float)_mag_z);
// hal.console->printf_P("cal=%.2f %.2f %.2f\n", cal[0], cal[1], cal[2]);
// hal.console->printf("cal=%.2f %.2f %.2f\n", cal[0], cal[1], cal[2]);
// we throw away the first two samples as the compass may
// still be changing its state from the application of the
@ -398,7 +398,7 @@ bool AP_Compass_HMC5843::_calibrate(uint8_t calibration_gain,
if (IS_CALIBRATION_VALUE_VALID(cal[0]) &&
IS_CALIBRATION_VALUE_VALID(cal[1]) &&
IS_CALIBRATION_VALUE_VALID(cal[2])) {
// hal.console->printf_P("car=%.2f %.2f %.2f good\n", cal[0], cal[1], cal[2]);
// hal.console->printf("car=%.2f %.2f %.2f good\n", cal[0], cal[1], cal[2]);
good_count++;
_scaling[0] += cal[0];
@ -410,8 +410,8 @@ bool AP_Compass_HMC5843::_calibrate(uint8_t calibration_gain,
#if 0
/* useful for debugging */
hal.console->printf_P("MagX: %d MagY: %d MagZ: %d\n", (int)_mag_x, (int)_mag_y, (int)_mag_z);
hal.console->printf_P("CalX: %.2f CalY: %.2f CalZ: %.2f\n", cal[0], cal[1], cal[2]);
hal.console->printf("MagX: %d MagY: %d MagZ: %d\n", (int)_mag_x, (int)_mag_y, (int)_mag_z);
hal.console->printf("CalX: %.2f CalY: %.2f CalZ: %.2f\n", cal[0], cal[1], cal[2]);
#endif
}

2
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -79,7 +79,7 @@ AP_GPS_UBLOX::send_next_rate_update(void)
return;
}
//hal.console->printf_P("next_rate: %u\n", (unsigned)rate_update_step);
//hal.console->printf("next_rate: %u\n", (unsigned)rate_update_step);
switch (rate_update_step++) {
case 0:

4
libraries/AP_HAL/examples/AnalogIn/AnalogIn.cpp
View File

@ -5,7 +5,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
AP_HAL::AnalogSource* ch;
void setup (void) {
hal.console->printf_P("Starting AP_HAL::AnalogIn test\r\n");
hal.console->printf("Starting AP_HAL::AnalogIn test\r\n");
ch = hal.analogin->channel(0);
}
@ -17,7 +17,7 @@ void loop (void)
if (pin == 0) {
hal.console->println();
}
hal.console->printf_P("[%u %.3f] ",
hal.console->printf("[%u %.3f] ",
(unsigned)pin, v);
pin = (pin+1) % 16;
ch->set_pin(pin);

4
libraries/AP_HAL/examples/Storage/Storage.cpp
View File

@ -13,7 +13,7 @@ void setup(void)
/*
init Storage API
*/
hal.console->printf_P("Starting AP_HAL::Storage test\r\n");
hal.console->printf("Starting AP_HAL::Storage test\r\n");
st->init(NULL);
/*
@ -33,7 +33,7 @@ void setup(void)
/*
print XORed result
*/
hal.console->printf_P("XORed ememory: %u\r\n", (unsigned) XOR_res);
hal.console->printf("XORed ememory: %u\r\n", (unsigned) XOR_res);
}
// In main loop do nothing

2
libraries/AP_HAL_Empty/Scheduler.cpp
View File

@ -78,7 +78,7 @@ void EmptyScheduler::panic(const prog_char_t *errormsg, ...)
va_start(ap, errormsg);
hal.console->vprintf(errormsg, ap);
va_end(ap);
hal.console->printf_P("\n");
hal.console->printf("\n");
for(;;);
}

2
libraries/AP_HAL_FLYMAPLE/Scheduler.cpp
View File

@ -241,7 +241,7 @@ void FLYMAPLEScheduler::panic(const prog_char_t *errormsg, ...) {
va_start(ap, errormsg);
hal.console->vprintf(errormsg, ap);
va_end(ap);
hal.console->printf_P("\n");
hal.console->printf("\n");
for(;;);
}

2
libraries/AP_HAL_FLYMAPLE/examples/Console/Console.cpp
View File

@ -31,7 +31,7 @@ void setup(void)
hal.console->println(1000, 16);
hal.console->println("progmem");
hal.console->printf("printf %d %u %#x %p %f %S\n", -1000, 1000, 1000, 1000, 1.2345, "progmem");
hal.console->printf_P("printf_P %d %u %#x %p %f %S\n", -1000, 1000, 1000, 1000, 1.2345, "progmem");
hal.console->printf("printf %d %u %#x %p %f %S\n", -1000, 1000, 1000, 1000, 1.2345, "progmem");
hal.console->println("done.");
for(;;);

10
libraries/AP_HAL_FLYMAPLE/examples/I2CDriver_HMC5883L/I2CDriver_HMC5883L.cpp
View File

@ -17,14 +17,14 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#define HMC5883L 0x1E
void setup() {
hal.console->printf_P("Initializing HMC5883L at address %x\r\n",
hal.console->printf("Initializing HMC5883L at address %x\r\n",
HMC5883L);
uint8_t stat = hal.i2c->writeRegister(HMC5883L,0x02,0x00);
if (stat == 0) {
hal.console->printf_P("successful init\r\n");
hal.console->printf("successful init\r\n");
} else {
hal.console->printf_P("failed init: return status %d\r\n",
hal.console->printf("failed init: return status %d\r\n",
(int)stat);
for(;;);
}
@ -43,9 +43,9 @@ void loop() {
y |= data[3];
z = data[4] << 8;
z |= data[5];
hal.console->printf_P("x: %d y: %d z: %d \r\n", x, y, z);
hal.console->printf("x: %d y: %d z: %d \r\n", x, y, z);
} else {
hal.console->printf_P("i2c error: status %d\r\n", (int)stat);
hal.console->printf("i2c error: status %d\r\n", (int)stat);
}
}

4
libraries/AP_HAL_FLYMAPLE/examples/RCInput/RCInput.cpp
View File

@ -14,7 +14,7 @@ void multiread(AP_HAL::RCInput* in, uint16_t* channels) {
bool valid;
valid = in->new_input();
in->read(channels, 8);
hal.console->printf_P(
hal.console->printf(
"multi read %d: %d %d %d %d %d %d %d %d\r\n",
(int) valid,
channels[0], channels[1], channels[2], channels[3],
@ -28,7 +28,7 @@ void individualread(AP_HAL::RCInput* in, uint16_t* channels) {
for (int i = 0; i < 8; i++) {
channels[i] = in->read(i);
}
hal.console->printf_P(
hal.console->printf(
"individual read %d: %d %d %d %d %d %d %d %d\r\n",
(int) valid,
channels[0], channels[1], channels[2], channels[3],

6
libraries/AP_HAL_FLYMAPLE/examples/RCPassthroughTest/RCPassthroughTest.cpp
View File

@ -13,7 +13,7 @@ void multiread(AP_HAL::RCInput* in, uint16_t* channels) {
/* Multi-channel read method: */
uint8_t valid;
valid = in->read(channels, 8);
hal.console->printf_P(
hal.console->printf(
"multi read %d: %d %d %d %d %d %d %d %d\r\n",
(int) valid,
channels[0], channels[1], channels[2], channels[3],
@ -27,7 +27,7 @@ void individualread(AP_HAL::RCInput* in, uint16_t* channels) {
for (int i = 0; i < 8; i++) {
channels[i] = in->read(i);
}
hal.console->printf_P(
hal.console->printf(
"individual read %d: %d %d %d %d %d %d %d %d\r\n",
(int) valid,
channels[0], channels[1], channels[2], channels[3],
@ -76,7 +76,7 @@ void setup (void) {
/* Bottom 4 channels at 400hz (like on a quad) */
hal.rcout->set_freq(0x0000000F, 400);
for(int i = 0; i < 12; i++) {
hal.console->printf_P("rcout ch %d has frequency %d\r\n",
hal.console->printf("rcout ch %d has frequency %d\r\n",
i, hal.rcout->get_freq(i));
}
/* Delay to let the user see the above printouts on the terminal */

2
libraries/AP_HAL_FLYMAPLE/examples/SPIDriver/SPIDriver.cpp
View File

@ -16,7 +16,7 @@ AP_HAL::SPIDeviceDriver* spidev;
void setup (void) {
hal.scheduler->delay(5000);
hal.console->printf_P("Starting AP_HAL_FLYMAPLE::SPIDriver test\r\n");
hal.console->printf("Starting AP_HAL_FLYMAPLE::SPIDriver test\r\n");
spidev = hal.spi->device(AP_HAL::SPIDevice_MPU6000); // Not really MPU6000, just a generic SPU driver
if (!spidev)

18
libraries/AP_HAL_FLYMAPLE/examples/Scheduler/Scheduler.cpp
View File

@ -53,7 +53,7 @@ void schedule_toggle_hang(void) {
}
void setup_pin(int pin_num) {
hal.console->printf_P("Setup pin %d\r\n", pin_num);
hal.console->printf("Setup pin %d\r\n", pin_num);
hal.gpio->pinMode(pin_num,HAL_GPIO_OUTPUT);
/* Blink so we can see setup on the logic analyzer.*/
hal.gpio->write(pin_num,1);
@ -62,21 +62,21 @@ void setup_pin(int pin_num) {
void setup (void) {
// hal.scheduler->delay(5000);
hal.console->printf_P("Starting AP_HAL_AVR::Scheduler test\r\n");
hal.console->printf("Starting AP_HAL_AVR::Scheduler test\r\n");
setup_pin(DELAY_TOGGLE_PIN);
setup_pin(FAILSAFE_TOGGLE_PIN);
setup_pin(SCHEDULED_TOGGLE_PIN_1);
setup_pin(SCHEDULED_TOGGLE_PIN_2);
hal.console->printf_P("Testing delay callback. "
hal.console->printf("Testing delay callback. "
"Pin %d should toggle at 1khz:\r\n",
(int) DELAY_TOGGLE_PIN);
// hal.scheduler->register_delay_callback(delay_toggle,0);
hal.scheduler->delay(2000);
hal.console->printf_P("Testing failsafe callback. "
hal.console->printf("Testing failsafe callback. "
"Pin %d should toggle at 1khz:\r\n",
(int) FAILSAFE_TOGGLE_PIN);
@ -84,10 +84,10 @@ void setup (void) {
hal.scheduler->delay(2000);
hal.console->printf_P("Testing running timer processes.\r\n");
hal.console->printf_P("Pin %d should toggle at 1khz.\r\n",
hal.console->printf("Testing running timer processes.\r\n");
hal.console->printf("Pin %d should toggle at 1khz.\r\n",
(int) SCHEDULED_TOGGLE_PIN_1);
hal.console->printf_P("Pin %d should toggle at 1khz.\r\n",
hal.console->printf("Pin %d should toggle at 1khz.\r\n",
(int) SCHEDULED_TOGGLE_PIN_2);
hal.scheduler->register_timer_process(schedule_toggle_1);
@ -97,10 +97,10 @@ void setup (void) {
// not yet working on flymaple: see FLYMAPLEScheduler::_timer_procs_timer_event()
#if 1
hal.console->printf_P("Test running a pathological timer process.\r\n"
hal.console->printf("Test running a pathological timer process.\r\n"
"Failsafe should continue even as pathological process "
"dominates the processor.");
hal.console->printf_P("Pin %d should toggle then go high forever.\r\n",
hal.console->printf("Pin %d should toggle then go high forever.\r\n",
(int) SCHEDULED_TOGGLE_PIN_2);
hal.scheduler->delay(200);
hal.scheduler->register_timer_process(schedule_toggle_hang);

6
libraries/AP_HAL_FLYMAPLE/examples/Semaphore/Semaphore.cpp
View File

@ -53,7 +53,7 @@ void blink_a3() {
}
void setup_pin(int pin_num) {
hal.console->printf_P("Setup pin %d\r\n", pin_num);
hal.console->printf("Setup pin %d\r\n", pin_num);
hal.gpio->pinMode(pin_num,HAL_GPIO_OUTPUT);
/* Blink so we can see setup on the logic analyzer.*/
hal.gpio->write(pin_num,1);
@ -61,14 +61,14 @@ void setup_pin(int pin_num) {
}
void setup (void) {
hal.console->printf_P("Starting Semaphore test\r\n");
hal.console->printf("Starting Semaphore test\r\n");
setup_pin(PIN_A0);
setup_pin(PIN_A1);
setup_pin(PIN_A2);
setup_pin(PIN_A3);
hal.console->printf_P("Using SPIDeviceManager builtin Semaphore\r\n");
hal.console->printf("Using SPIDeviceManager builtin Semaphore\r\n");
AP_HAL::SPIDeviceDriver *dataflash = hal.spi->device(AP_HAL::SPIDevice_Dataflash); // not really

18
libraries/AP_HAL_FLYMAPLE/examples/Storage/Storage.cpp
View File

@ -12,40 +12,40 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
uint8_t fibs[] = { 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 0 };
void test_erase() {
hal.console->printf_P("erasing... ");
hal.console->printf("erasing... ");
for(int i = 0; i < 100; i++) {
hal.storage->write_byte(i, 0);
}
hal.console->printf_P(" done.\r\n");
hal.console->printf(" done.\r\n");
}
void test_write() {
hal.console->printf_P("writing... ");
hal.console->printf("writing... ");
hal.storage->write_block(0, fibs, sizeof(fibs));
hal.console->printf_P(" done.\r\n");
hal.console->printf(" done.\r\n");
}
void test_readback() {
hal.console->printf_P("reading back...\r\n");
hal.console->printf("reading back...\r\n");
uint8_t readback[sizeof(fibs)];
bool success = true;
hal.storage->read_block(readback, 0, sizeof(fibs));
for (int i = 0; i < sizeof(fibs); i++) {
if (readback[i] != fibs[i]) {
success = false;
hal.console->printf_P("At index %d expected %d got %d\r\n",
hal.console->printf("At index %d expected %d got %d\r\n",
i, (int) fibs[i], (int) readback[i]);
}
}
if (success) {
hal.console->printf_P("all bytes read successfully\r\n");
hal.console->printf("all bytes read successfully\r\n");
}
hal.console->printf_P("done reading back.\r\n");
hal.console->printf("done reading back.\r\n");
}
void setup (void) {
hal.scheduler->delay(5000);
hal.console->printf_P("Starting AP_HAL_FLYMAPLE::Storage test\r\n");
hal.console->printf("Starting AP_HAL_FLYMAPLE::Storage test\r\n");
hal.console->printf("test %d\n", i);
test_readback(); // Test what was left from the last run, possibly after power off

2
libraries/AP_HAL_FLYMAPLE/examples/UARTDriver/UARTDriver.cpp
View File

@ -34,7 +34,7 @@ void setup(void)
int x = 3;
int *ptr = &x;
hal.uartA->printf("printf %d %u %#x %p %f %s\n", -1000, 1000, 1000, ptr, 1.2345, "progmem");
hal.uartA->printf_P("printf_P %d %u %#x %p %f %s\n", -1000, 1000, 1000, ptr, 1.2345, "progmem");
hal.uartA->printf("printf %d %u %#x %p %f %s\n", -1000, 1000, 1000, ptr, 1.2345, "progmem");
hal.uartA->println("done");
}

2
libraries/AP_HAL_SITL/Scheduler.cpp
View File

@ -266,7 +266,7 @@ void SITLScheduler::panic(const prog_char_t *errormsg, ...)
va_start(ap, errormsg);
hal.console->vprintf(errormsg, ap);
va_end(ap);
hal.console->printf_P("\n");
hal.console->printf("\n");
for(;;);
}

4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -541,7 +541,7 @@ bool AP_InertialSensor::_calculate_trim(const Vector3f &accel_sample, float& tri
hal.console->println("trim over maximum of 10 degrees");
return false;
}
hal.console->printf_P("Trim OK: roll=%.2f pitch=%.2f\n",
hal.console->printf("Trim OK: roll=%.2f pitch=%.2f\n",
(double)degrees(trim_roll),
(double)degrees(trim_pitch));
return true;
@ -1017,7 +1017,7 @@ AP_InertialSensor::_init_gyro()
hal.console->println();
for (uint8_t k=0; k<num_gyros; k++) {
if (!converged[k]) {
hal.console->printf_P("gyro[%u] did not converge: diff=%f dps\n",
hal.console->printf("gyro[%u] did not converge: diff=%f dps\n",
(unsigned)k, (double)ToDeg(best_diff[k]));
_gyro_offset[k] = best_avg[k];
// flag calibration as failed for this gyro

4
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
View File

@ -809,7 +809,7 @@ void AP_InertialSensor_LSM9DS0::_dump_registers(void)
const uint8_t last = ACT_DUR;
for (uint8_t reg=first; reg<=last; reg++) {
uint8_t v = _register_read_g(reg);
hal.console->printf_P("%02x:%02x ", (unsigned)reg, (unsigned)v);
hal.console->printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
if ((reg - (first-1)) % 16 == 0) {
hal.console->println();
}
@ -819,7 +819,7 @@ void AP_InertialSensor_LSM9DS0::_dump_registers(void)
hal.console->println("Accelerometer and Magnetometers registers:");
for (uint8_t reg=first; reg<=last; reg++) {
uint8_t v = _register_read_xm(reg);
hal.console->printf_P("%02x:%02x ", (unsigned)reg, (unsigned)v);
hal.console->printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
if ((reg - (first-1)) % 16 == 0) {
hal.console->println();
}

12
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -370,7 +370,7 @@ void AP_MPU6000_BusDriver_I2C::read_data_transaction(uint8_t *samples,
ret = _i2c->readRegisters(_addr, MPUREG_FIFO_COUNTH, 2, _rx);
if(ret != 0) {
hal.console->printf_P("MPU6000: error in i2c read\n");
hal.console->printf("MPU6000: error in i2c read\n");
n_samples = 0;
return;
}
@ -380,7 +380,7 @@ void AP_MPU6000_BusDriver_I2C::read_data_transaction(uint8_t *samples,
n_samples = bytes_read / MPU6000_SAMPLE_SIZE;
if(n_samples > 3) {
hal.console->printf_P("bytes_read = %d, n_samples %d > 3, dropping samples\n",
hal.console->printf("bytes_read = %d, n_samples %d > 3, dropping samples\n",
bytes_read, n_samples);
/* Too many samples, do a FIFO RESET */
@ -399,7 +399,7 @@ void AP_MPU6000_BusDriver_I2C::read_data_transaction(uint8_t *samples,
}
if(ret != 0) {
hal.console->printf_P("MPU6000: error in i2c read %d bytes\n",
hal.console->printf("MPU6000: error in i2c read %d bytes\n",
n_samples * MPU6000_SAMPLE_SIZE);
n_samples = 0;
return;
@ -767,10 +767,10 @@ void AP_InertialSensor_MPU6000::_register_write_check(uint8_t reg, uint8_t val)
_register_write(reg, val);
readed = _register_read(reg);
if (readed != val){
hal.console->printf_P("Values doesn't match; written: %02x; read: %02x ", val, readed);
hal.console->printf("Values doesn't match; written: %02x; read: %02x ", val, readed);
}
#if MPU6000_DEBUG
hal.console->printf_P("Values written: %02x; readed: %02x ", val, readed);
hal.console->printf("Values written: %02x; readed: %02x ", val, readed);
#endif
}
@ -871,7 +871,7 @@ void AP_InertialSensor_MPU6000::_dump_registers(void)
if (_bus_sem->take(100)) {
for (uint8_t reg=MPUREG_PRODUCT_ID; reg<=108; reg++) {
uint8_t v = _register_read(reg);
hal.console->printf_P("%02x:%02x ", (unsigned)reg, (unsigned)v);
hal.console->printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
if ((reg - (MPUREG_PRODUCT_ID-1)) % 16 == 0) {
hal.console->println();
}

4
libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
View File

@ -974,7 +974,7 @@ int16_t AP_InertialSensor_MPU9150::mpu_read_fifo(int16_t *gyro, int16_t *accel,
if (fifo_count < packet_size){
return 0;
}
// hal.console->printf_P(PTR("FIFO count: %hd\n", fifo_count));
// hal.console->printf(PTR("FIFO count: %hd\n", fifo_count));
if (fifo_count > (st.hw->max_fifo >> 1)) {
/* FIFO is 50% full, better check overflow bit. */
hal.i2c->readRegister(st.hw->addr, st.reg->int_status, data);
@ -1046,7 +1046,7 @@ void AP_InertialSensor_MPU9150::_accumulate(void)
return;
}
// hal.console->printf_P(PTR("FIFO count: %hd\n", fifo_count));
// hal.console->printf(PTR("FIFO count: %hd\n", fifo_count));
if (fifo_count > (st.hw->max_fifo >> 1)) {
/* FIFO is 50% full, better check overflow bit. */
hal.i2c->readRegister(st.hw->addr, st.reg->int_status, data);

2
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
View File

@ -531,7 +531,7 @@ void AP_InertialSensor_MPU9250::_dump_registers(AP_HAL::SPIDeviceDriver *spi)
hal.console->println("MPU9250 registers");
for (uint8_t reg=0; reg<=126; reg++) {
uint8_t v = _register_read(spi, reg);
hal.console->printf_P("%02x:%02x ", (unsigned)reg, (unsigned)v);
hal.console->printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
if ((reg - (MPUREG_PRODUCT_ID-1)) % 16 == 0) {
hal.console->println();
}

8
libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
View File

@ -99,17 +99,17 @@ static void display_offsets_and_scaling()
Vector3f gyro_offsets = ins.get_gyro_offsets();
// display results
hal.console->printf_P(
hal.console->printf(
"\nAccel Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
accel_offsets.x,
accel_offsets.y,
accel_offsets.z);
hal.console->printf_P(
hal.console->printf(
"Accel Scale X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
accel_scale.x,
accel_scale.y,
accel_scale.z);
hal.console->printf_P(
hal.console->printf(
"Gyro Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
gyro_offsets.x,
gyro_offsets.y,
@ -146,7 +146,7 @@ static void run_test()
if (counter++ % 50 == 0) {
// display results
hal.console->printf_P("Accel X:%4.2f \t Y:%4.2f \t Z:%4.2f \t len:%4.2f \t Gyro X:%4.2f \t Y:%4.2f \t Z:%4.2f\n",
hal.console->printf("Accel X:%4.2f \t Y:%4.2f \t Z:%4.2f \t len:%4.2f \t Gyro X:%4.2f \t Y:%4.2f \t Z:%4.2f\n",
accel.x, accel.y, accel.z, length, gyro.x, gyro.y, gyro.z);
}
}

4
libraries/AP_Math/examples/eulers/eulers.cpp
View File

@ -49,7 +49,7 @@ static void check_result(const char *msg,
ToDeg(rad_diff(pitch, -PI/2)) < 1) {
// we expect breakdown at these poles
#if SHOW_POLES_BREAKDOWN
hal.console->printf_P(
hal.console->printf(
"%s breakdown eulers roll=%f/%f pitch=%f/%f yaw=%f/%f\n",
msg,
ToDeg(roll), ToDeg(roll2),
@ -57,7 +57,7 @@ static void check_result(const char *msg,
ToDeg(yaw), ToDeg(yaw2));
#endif
} else {
hal.console->printf_P(
hal.console->printf(
"%s incorrect eulers roll=%f/%f pitch=%f/%f yaw=%f/%f\n",
msg,
ToDeg(roll), ToDeg(roll2),

2
libraries/AP_Math/examples/polygon/polygon.cpp
View File

@ -80,7 +80,7 @@ void setup(void)
bool result;
result = Polygon_outside(test_points[i].point,
OBC_boundary, ARRAY_SIZE(OBC_boundary));
hal.console->printf_P("%10f,%10f %s %s\n",
hal.console->printf("%10f,%10f %s %s\n",
1.0e-7f*test_points[i].point.x,
1.0e-7f*test_points[i].point.y,
result ? "OUTSIDE" : "INSIDE ",

2
libraries/AP_Math/examples/rotations/rotations.cpp
View File

@ -41,7 +41,7 @@ static void test_rotation_accuracy(void)
attitude.to_euler(&roll, &pitch, &yaw);
// display results
hal.console->printf_P(
hal.console->printf(
"actual angle: %d\tcalculated angle:%4.2f\n",
(int)i,ToDeg(yaw));
}

4
libraries/AP_Math/location.cpp
View File

@ -242,9 +242,9 @@ void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon)
// print output including the minus sign
if( lat_or_lon < 0 ) {
s->printf_P("-");
s->printf("-");
}
s->printf_P("%ld.%07ld",(long)dec_portion,(long)frac_portion);
s->printf("%ld.%07ld",(long)dec_portion,(long)frac_portion);
}
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75

4
libraries/AP_Menu/AP_Menu.cpp
View File

@ -84,7 +84,7 @@ Menu::_check_for_input(void)
void
Menu::_display_prompt(void)
{
_port->printf_P("%S] ", _prompt);
_port->printf("%S] ", _prompt);
}
// run the menu
@ -231,7 +231,7 @@ Menu::_help(void)
_port->println("Commands:");
for (i = 0; i < _entries; i++) {
hal.scheduler->delay(10);
_port->printf_P(" %S\n", _commands[i].command);
_port->printf(" %S\n", _commands[i].command);
}
}

74
libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
View File

@ -59,10 +59,10 @@ bool MissionTest::start_cmd(const AP_Mission::Mission_Command& cmd)
// reset tracking of number of iterations of this command (we simulate all nav commands taking 3 iterations to complete, all do command 1 iteration)
if (AP_Mission::is_nav_cmd(cmd)) {
num_nav_cmd_runs = 0;
hal.console->printf_P("started cmd #%d id:%d Nav\n",(int)cmd.index,(int)cmd.id);
hal.console->printf("started cmd #%d id:%d Nav\n",(int)cmd.index,(int)cmd.id);
}else{
num_do_cmd_runs = 0;
hal.console->printf_P("started cmd #%d id:%d Do\n",(int)cmd.index,(int)cmd.id);
hal.console->printf("started cmd #%d id:%d Do\n",(int)cmd.index,(int)cmd.id);
}
return true;
@ -75,19 +75,19 @@ bool MissionTest::verify_cmd(const AP_Mission::Mission_Command& cmd)
if (AP_Mission::is_nav_cmd(cmd)) {
num_nav_cmd_runs++;
if (num_nav_cmd_runs < verify_nav_cmd_iterations_to_complete) {
hal.console->printf_P("verified cmd #%d id:%d Nav iteration:%d\n",(int)cmd.index,(int)cmd.id,(int)num_nav_cmd_runs);
hal.console->printf("verified cmd #%d id:%d Nav iteration:%d\n",(int)cmd.index,(int)cmd.id,(int)num_nav_cmd_runs);
return false;
}else{
hal.console->printf_P("verified cmd #%d id:%d Nav complete!\n",(int)cmd.index,(int)cmd.id);
hal.console->printf("verified cmd #%d id:%d Nav complete!\n",(int)cmd.index,(int)cmd.id);
return true;
}
}else{
num_do_cmd_runs++;
if (num_do_cmd_runs < verify_do_cmd_iterations_to_complete) {
hal.console->printf_P("verified cmd #%d id:%d Do iteration:%d\n",(int)cmd.index,(int)cmd.id,(int)num_do_cmd_runs);
hal.console->printf("verified cmd #%d id:%d Do iteration:%d\n",(int)cmd.index,(int)cmd.id,(int)num_do_cmd_runs);
return false;
}else{
hal.console->printf_P("verified cmd #%d id:%d Do complete!\n",(int)cmd.index,(int)cmd.id);
hal.console->printf("verified cmd #%d id:%d Do complete!\n",(int)cmd.index,(int)cmd.id);
return true;
}
}
@ -645,11 +645,11 @@ void MissionTest::print_mission()
// check for empty mission
if (mission.num_commands() == 0) {
hal.console->printf_P("No Mission!\n");
hal.console->printf("No Mission!\n");
return;
}
hal.console->printf_P("Mission: %d commands\n",(int)mission.num_commands());
hal.console->printf("Mission: %d commands\n",(int)mission.num_commands());
// print each command
for(uint16_t i=0; i<mission.num_commands(); i++) {
@ -657,23 +657,23 @@ void MissionTest::print_mission()
mission.read_cmd_from_storage(i,cmd);
// print command position in list and mavlink id
hal.console->printf_P("Cmd#%d mav-id:%d ", (int)cmd.index, (int)cmd.id);
hal.console->printf("Cmd#%d mav-id:%d ", (int)cmd.index, (int)cmd.id);
// print whether nav or do command
if (AP_Mission::is_nav_cmd(cmd)) {
hal.console->printf_P("Nav ");
hal.console->printf("Nav ");
}else{
hal.console->printf_P("Do ");
hal.console->printf("Do ");
}
// print command contents
if (cmd.id == MAV_CMD_DO_JUMP) {
hal.console->printf_P("jump-to:%d num_times:%d\n", (int)cmd.content.jump.target, (int)cmd.content.jump.num_times);
hal.console->printf("jump-to:%d num_times:%d\n", (int)cmd.content.jump.target, (int)cmd.content.jump.num_times);
}else{
hal.console->printf_P("p1:%d lat:%ld lng:%ld alt:%ld\n",(int)cmd.p1, (long)cmd.content.location.lat, (long)cmd.content.location.lng, (long)cmd.content.location.alt);
hal.console->printf("p1:%d lat:%ld lng:%ld alt:%ld\n",(int)cmd.p1, (long)cmd.content.location.lat, (long)cmd.content.location.lng, (long)cmd.content.location.alt);
}
}
hal.console->printf_P("--------\n");
hal.console->printf("--------\n");
}
// run_resume_test - tests the stop and resume feature
@ -752,7 +752,7 @@ void MissionTest::run_resume_test()
print_mission();
// start mission
hal.console->printf_P("\nRunning missions\n");
hal.console->printf("\nRunning missions\n");
mission.start();
// update the mission for X iterations
@ -764,7 +764,7 @@ void MissionTest::run_resume_test()
}
// simulate user pausing the mission
hal.console->printf_P("Stopping mission\n");
hal.console->printf("Stopping mission\n");
mission.stop();
// update the mission for 5 seconds (nothing should happen)
@ -774,7 +774,7 @@ void MissionTest::run_resume_test()
}
// simulate user resuming mission
hal.console->printf_P("Resume mission\n");
hal.console->printf("Resume mission\n");
mission.resume();
// update the mission forever
@ -869,7 +869,7 @@ void MissionTest::run_set_current_cmd_test()
print_mission();
// start mission
hal.console->printf_P("\nRunning missions\n");
hal.console->printf("\nRunning missions\n");
mission.start();
// update the mission for X iterations to let it go to about command 3 or 4
@ -878,7 +878,7 @@ void MissionTest::run_set_current_cmd_test()
}
// simulate user setting current command to 2
hal.console->printf_P("Setting current command to 2\n");
hal.console->printf("Setting current command to 2\n");
mission.set_current_cmd(2);
// update the mission forever
@ -974,7 +974,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
print_mission();
// start mission
hal.console->printf_P("\nRunning missions\n");
hal.console->printf("\nRunning missions\n");
mission.start();
// update the mission for X iterations
@ -983,11 +983,11 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
}
// simulate user pausing the mission
hal.console->printf_P("Stopping mission\n");
hal.console->printf("Stopping mission\n");
mission.stop();
// simulate user setting current command to 2
hal.console->printf_P("Setting current command to 2\n");
hal.console->printf("Setting current command to 2\n");
mission.set_current_cmd(2);
// update the mission for 2 seconds (nothing should happen)
@ -997,7 +997,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
}
// simulate user resuming mission
hal.console->printf_P("Resume mission\n");
hal.console->printf("Resume mission\n");
mission.resume();
// wait for the mission to complete
@ -1012,11 +1012,11 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
}
// simulate user setting current command to 2 now that the mission has completed
hal.console->printf_P("Setting current command to 5\n");
hal.console->printf("Setting current command to 5\n");
mission.set_current_cmd(5);
// simulate user resuming mission
hal.console->printf_P("Resume mission\n");
hal.console->printf("Resume mission\n");
mission.resume();
// keep running the mission forever
@ -1100,7 +1100,7 @@ void MissionTest::run_replace_cmd_test()
print_mission();
// start mission
hal.console->printf_P("\nRunning missions\n");
hal.console->printf("\nRunning missions\n");
mission.start();
// update the mission for X iterations to let it go to about command 3 or 4
@ -1117,9 +1117,9 @@ void MissionTest::run_replace_cmd_test()
cmd.content.location.lat = 12345678;
cmd.content.location.lng = 23456789;
if (!mission.replace_cmd(4, cmd)) {
hal.console->printf_P("failed to replace command 4\n");
hal.console->printf("failed to replace command 4\n");
}else{
hal.console->printf_P("replaced command #4 -------------\n");
hal.console->printf("replaced command #4 -------------\n");
// print current mission
print_mission();
}
@ -1150,7 +1150,7 @@ void MissionTest::run_max_cmd_test()
cmd.content.location.lat = 12345678;
cmd.content.location.lng = 23456789;
if (!mission.add_cmd(cmd)) {
hal.console->printf_P("failed to add command #%u, library says max is %u\n",(unsigned int)num_commands, (unsigned int)mission.num_commands_max());
hal.console->printf("failed to add command #%u, library says max is %u\n",(unsigned int)num_commands, (unsigned int)mission.num_commands_max());
failed_to_add = true;
}else{
num_commands++;
@ -1160,14 +1160,14 @@ void MissionTest::run_max_cmd_test()
// test retrieving commands
for (i=0; i<num_commands; i++) {
if (!mission.read_cmd_from_storage(i,cmd)) {
hal.console->printf_P("failed to retrieve command #%u\n",(unsigned int)i);
hal.console->printf("failed to retrieve command #%u\n",(unsigned int)i);
failed_to_read = true;
break;
}else{
if (cmd.content.location.alt == i) {
hal.console->printf_P("successfully read command #%u\n",(unsigned int)i);
hal.console->printf("successfully read command #%u\n",(unsigned int)i);
}else{
hal.console->printf_P("cmd %u's alt does not match, expected %u but read %u\n",
hal.console->printf("cmd %u's alt does not match, expected %u but read %u\n",
(unsigned int)i,(unsigned int)i,(unsigned int)cmd.content.location.alt);
}
}
@ -1175,15 +1175,15 @@ void MissionTest::run_max_cmd_test()
// final success/fail message
if (num_commands != mission.num_commands()) {
hal.console->printf_P("\nTest failed! Only wrote %u instead of %u commands",(unsigned int)i,(unsigned int)mission.num_commands_max());
hal.console->printf("\nTest failed! Only wrote %u instead of %u commands",(unsigned int)i,(unsigned int)mission.num_commands_max());
success = false;
}
if (failed_to_read) {
hal.console->printf_P("\nTest failed! Only read %u instead of %u commands",(unsigned int)i,(unsigned int)mission.num_commands_max());
hal.console->printf("\nTest failed! Only read %u instead of %u commands",(unsigned int)i,(unsigned int)mission.num_commands_max());
success = false;
}
if (success) {
hal.console->printf_P("\nTest Passed! wrote and read back %u commands\n\n",(unsigned int)mission.num_commands_max());
hal.console->printf("\nTest Passed! wrote and read back %u commands\n\n",(unsigned int)mission.num_commands_max());
}
}
@ -1193,8 +1193,8 @@ void MissionTest::setup(void)
hal.console->println("AP_Mission library test\n");
// display basic info about command sizes
hal.console->printf_P("Max Num Commands: %d\n",(int)mission.num_commands_max());
hal.console->printf_P("Command size: %d bytes\n",(int)AP_MISSION_EEPROM_COMMAND_SIZE);
hal.console->printf("Max Num Commands: %d\n",(int)mission.num_commands_max());
hal.console->printf("Command size: %d bytes\n",(int)AP_MISSION_EEPROM_COMMAND_SIZE);
}
// loop

4
libraries/AP_Motors/examples/AP_Motors_Time_test/AP_Motors_Time_test.cpp
View File

@ -95,13 +95,13 @@ void motor_order_test()
motors.armed(true);
for (int8_t i=1; i <= 4; i++) {
hal.console->printf_P("Motor %d\n",(int)i);
hal.console->printf("Motor %d\n",(int)i);
int elapsed =0,stop;
int start = hal.scheduler->micros(); //Time Test
motors.output_test(i, 1150);
stop = hal.scheduler->micros();
elapsed = stop - start;
hal.console->printf_P(" Elapsed Time: %dus\n",elapsed);
hal.console->printf(" Elapsed Time: %dus\n",elapsed);
hal.scheduler->delay(300);
motors.output_test(i, 1000);
hal.scheduler->delay(2000);

6
libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
View File

@ -112,7 +112,7 @@ void motor_order_test()
hal.console->println("testing motor order");
motors.armed(true);
for (int8_t i=1; i <= AP_MOTORS_MAX_NUM_MOTORS; i++) {
hal.console->printf_P("Motor %d\n",(int)i);
hal.console->printf("Motor %d\n",(int)i);
motors.output_test(i, 1150);
hal.scheduler->delay(300);
motors.output_test(i, 1000);
@ -165,7 +165,7 @@ void stability_test()
};
uint32_t testing_array_rows = 32;
hal.console->printf_P("\nTesting stability patch\nThrottle Min:%d Max:%d\n",(int)rc3.radio_min,(int)rc3.radio_max);
hal.console->printf("\nTesting stability patch\nThrottle Min:%d Max:%d\n",(int)rc3.radio_min,(int)rc3.radio_max);
// arm motors
motors.armed(true);
@ -186,7 +186,7 @@ void stability_test()
avg_out = ((hal.rcout->read(0) + hal.rcout->read(1) + hal.rcout->read(2) + hal.rcout->read(3))/4);
// display input and output
hal.console->printf_P("R:%5d \tP:%5d \tY:%5d \tT:%5d\tMOT1:%5d \tMOT2:%5d \tMOT3:%5d \tMOT4:%5d \t ThrIn/AvgOut:%5d/%5d\n",
hal.console->printf("R:%5d \tP:%5d \tY:%5d \tT:%5d\tMOT1:%5d \tMOT2:%5d \tMOT3:%5d \tMOT4:%5d \t ThrIn/AvgOut:%5d/%5d\n",
(int)roll_in,
(int)pitch_in,
(int)yaw_in,

2
libraries/AP_OpticalFlow/AP_OpticalFlow_Linux.cpp
View File

@ -188,7 +188,7 @@ void AP_OpticalFlow_Linux::update(void)
_update_frontend(state);
#if PX4FLOW_DEBUG
hal.console->printf_P("PX4FLOW id:%u qual:%u FlowRateX:%4.2f Y:%4.2f BodyRateX:%4.2f y:%4.2f\n",
hal.console->printf("PX4FLOW id:%u qual:%u FlowRateX:%4.2f Y:%4.2f BodyRateX:%4.2f y:%4.2f\n",
(unsigned)state.device_id,
(unsigned)state.surface_quality,
(double)state.flowRate.x,

2
libraries/AP_Parachute/examples/AP_Parachute_test/AP_Parachute_test.cpp
View File

@ -30,7 +30,7 @@ void setup()
void loop()
{
// print message to user
hal.console->printf_P("this example tests compilation only");
hal.console->printf("this example tests compilation only");
hal.scheduler->delay(5000);
}

14
libraries/AP_Param/AP_Param.cpp
View File

@ -1133,16 +1133,16 @@ void AP_Param::show(const AP_Param *ap, const char *s,
{
switch (type) {
case AP_PARAM_INT8:
port->printf_P("%s: %d\n", s, (int)((AP_Int8 *)ap)->get());
port->printf("%s: %d\n", s, (int)((AP_Int8 *)ap)->get());
break;
case AP_PARAM_INT16:
port->printf_P("%s: %d\n", s, (int)((AP_Int16 *)ap)->get());
port->printf("%s: %d\n", s, (int)((AP_Int16 *)ap)->get());
break;
case AP_PARAM_INT32:
port->printf_P("%s: %ld\n", s, (long)((AP_Int32 *)ap)->get());
port->printf("%s: %ld\n", s, (long)((AP_Int32 *)ap)->get());
break;
case AP_PARAM_FLOAT:
port->printf_P("%s: %f\n", s, (double)((AP_Float *)ap)->get());
port->printf("%s: %f\n", s, (double)((AP_Float *)ap)->get());
break;
default:
break;
@ -1170,7 +1170,7 @@ void AP_Param::show_all(AP_HAL::BetterStream *port, bool showKeyValues)
ap;
ap=AP_Param::next_scalar(&token, &type)) {
if (showKeyValues) {
port->printf_P("Key %i: Index %i: GroupElement %i : ", token.key, token.idx, token.group_element);
port->printf("Key %i: Index %i: GroupElement %i : ", token.key, token.idx, token.group_element);
}
show(ap, token, type, port);
}
@ -1205,7 +1205,7 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info)
AP_Param *ap2;
ap2 = find(&info->new_name[0], &ptype);
if (ap2 == NULL) {
hal.console->printf_P("Unknown conversion '%s'\n", info->new_name);
hal.console->printf("Unknown conversion '%s'\n", info->new_name);
return;
}
@ -1235,7 +1235,7 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info)
}
} else {
// can't do vector<->scalar conversion, or different vector types
hal.console->printf_P("Bad conversion type '%s'\n", info->new_name);
hal.console->printf("Bad conversion type '%s'\n", info->new_name);
}
}
#pragma GCC diagnostic pop

8
libraries/AP_PerfMon/AP_PerfMon.cpp
View File

@ -161,8 +161,8 @@ void AP_PerfMon::DisplayResults()
hal.console->set_blocking_writes(true);
// print table of results
hal.console->printf_P("\nPerfMon elapsed:%lu(ms)\n",(unsigned long)totalTime/1000);
hal.console->printf_P("Fn:\t\tcpu\ttot(ms)\tavg(ms)\tmax(ms)\t#calls\tHz\n");
hal.console->printf("\nPerfMon elapsed:%lu(ms)\n",(unsigned long)totalTime/1000);
hal.console->printf("Fn:\t\tcpu\ttot(ms)\tavg(ms)\tmax(ms)\t#calls\tHz\n");
for( i=0; i<nextFuncNum; i++ ) {
j=order[i];
sumOfTime += time[j];
@ -176,7 +176,7 @@ void AP_PerfMon::DisplayResults()
hz = numCalls[j]/(totalTime/1000000);
pct = ((float)time[j] / (float)totalTime) * 100.0f;
hal.console->printf_P("%-10s\t%4.2f\t%lu\t%4.3f\t%4.3f\t%lu\t%4.1f\n",
hal.console->printf("%-10s\t%4.2f\t%lu\t%4.3f\t%4.3f\t%lu\t%4.1f\n",
functionNames[j],
pct,
(unsigned long)time[j]/1000,
@ -192,7 +192,7 @@ void AP_PerfMon::DisplayResults()
unExplainedTime = totalTime - sumOfTime;
}
pct = ((float)unExplainedTime / (float)totalTime) * 100.0f;
hal.console->printf_P("unexpl:\t\t%4.2f\t%lu\n",pct,(unsigned long)unExplainedTime/1000);
hal.console->printf("unexpl:\t\t%4.2f\t%lu\n",pct,(unsigned long)unExplainedTime/1000);
// restore to blocking writes if necessary
hal.console->set_blocking_writes(false);

6
libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.cpp
View File

@ -23,7 +23,7 @@ void setup()
// initialise sensor, delaying to make debug easier
hal.scheduler->delay(2000);
sonar.init();
hal.console->printf_P("RangeFinder: %d devices detected\n", sonar.num_sensors());
hal.console->printf("RangeFinder: %d devices detected\n", sonar.num_sensors());
}
void loop()
@ -32,8 +32,8 @@ void loop()
hal.scheduler->delay(100);
sonar.update();
hal.console->printf_P("Primary: status %d distance_cm %d \n", (int)sonar.status(), sonar.distance_cm());
hal.console->printf_P("All: device_0 type %d status %d distance_cm %d, device_1 type %d status %d distance_cm %d\n",
hal.console->printf("Primary: status %d distance_cm %d \n", (int)sonar.status(), sonar.distance_cm());
hal.console->printf("All: device_0 type %d status %d distance_cm %d, device_1 type %d status %d distance_cm %d\n",
(int)sonar._type[0], (int)sonar.status(0), sonar.distance_cm(0), (int)sonar._type[1], (int)sonar.status(1), sonar.distance_cm(1));
}

4
libraries/AP_Scheduler/AP_Scheduler.cpp
View File

@ -73,7 +73,7 @@ void AP_Scheduler::run(uint16_t time_available)
if (dt >= interval_ticks*2) {
// we've slipped a whole run of this task!
if (_debug > 1) {
hal.console->printf_P("Scheduler slip task[%u-%s] (%u/%u/%u)\n",
hal.console->printf("Scheduler slip task[%u-%s] (%u/%u/%u)\n",
(unsigned)i,
_tasks[i].name,
(unsigned)dt,
@ -102,7 +102,7 @@ void AP_Scheduler::run(uint16_t time_available)
if (time_taken > _task_time_allowed) {
// the event overran!
if (_debug > 2) {
hal.console->printf_P("Scheduler overrun task[%u-%s] (%u/%u)\n",
hal.console->printf("Scheduler overrun task[%u-%s] (%u/%u)\n",
(unsigned)i,
_tasks[i].name,
(unsigned)time_taken,

2
libraries/DataFlash/DataFlash_APM1.cpp
View File

@ -42,7 +42,7 @@ extern const AP_HAL::HAL& hal;
//#define ENABLE_FASTSERIAL_DEBUG
#ifdef ENABLE_FASTSERIAL_DEBUG
#define serialDebug(fmt, args...) do {hal.console->printf_P( __FUNCTION__ ":%d:" fmt "\n", __LINE__, ##args); } while(0)
#define serialDebug(fmt, args...) do {hal.console->printf( __FUNCTION__ ":%d:" fmt "\n", __LINE__, ##args); } while(0)
#else
# define serialDebug(fmt, args...)
#endif

10
libraries/DataFlash/DataFlash_File.cpp
View File

@ -855,13 +855,13 @@ void DataFlash_File::LogReadProcess(const uint16_t list_entry,
*/
void DataFlash_File::DumpPageInfo(AP_HAL::BetterStream *port)
{
port->printf_P("DataFlash: num_logs=%u\n",
port->printf("DataFlash: num_logs=%u\n",
(unsigned)get_num_logs());
}
void DataFlash_File::ShowDeviceInfo(AP_HAL::BetterStream *port)
{
port->printf_P("DataFlash logs stored in %s\n",
port->printf("DataFlash logs stored in %s\n",
_log_directory);
}
@ -874,10 +874,10 @@ void DataFlash_File::ListAvailableLogs(AP_HAL::BetterStream *port)
uint16_t num_logs = get_num_logs();
if (num_logs == 0) {
port->printf_P("\nNo logs\n\n");
port->printf("\nNo logs\n\n");
return;
}
port->printf_P("\n%u logs\n", (unsigned)num_logs);
port->printf("\n%u logs\n", (unsigned)num_logs);
for (uint16_t i=1; i<=num_logs; i++) {
uint16_t log_num = _log_num_from_list_entry(i);
@ -886,7 +886,7 @@ void DataFlash_File::ListAvailableLogs(AP_HAL::BetterStream *port)
struct stat st;
if (stat(filename, &st) == 0) {
struct tm *tm = gmtime(&st.st_mtime);
port->printf_P("Log %u in %s of size %u %u/%u/%u %u:%u\n",
port->printf("Log %u in %s of size %u %u/%u/%u %u:%u\n",
(unsigned)i,
filename,
(unsigned)st.st_size,

58
libraries/DataFlash/LogFile.cpp
View File

@ -311,7 +311,7 @@ void DataFlash_Backend::_print_log_entry(uint8_t msg_type,
}
}
if (i == _num_types) {
port->printf_P("UNKN, %u\n", (unsigned)msg_type);
port->printf("UNKN, %u\n", (unsigned)msg_type);
return;
}
uint8_t msg_len = PGM_UINT8(&_structures[i].msg_len) - 3;
@ -319,66 +319,66 @@ void DataFlash_Backend::_print_log_entry(uint8_t msg_type,
if (!ReadBlock(pkt, msg_len)) {
return;
}
port->printf_P("%S, ", _structures[i].name);
port->printf("%S, ", _structures[i].name);
for (uint8_t ofs=0, fmt_ofs=0; ofs<msg_len; fmt_ofs++) {
char fmt = PGM_UINT8(&_structures[i].format[fmt_ofs]);
switch (fmt) {
case 'b': {
port->printf_P("%d", (int)pkt[ofs]);
port->printf("%d", (int)pkt[ofs]);
ofs += 1;
break;
}
case 'B': {
port->printf_P("%u", (unsigned)pkt[ofs]);
port->printf("%u", (unsigned)pkt[ofs]);
ofs += 1;
break;
}
case 'h': {
int16_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P("%d", (int)v);
port->printf("%d", (int)v);
ofs += sizeof(v);
break;
}
case 'H': {
uint16_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P("%u", (unsigned)v);
port->printf("%u", (unsigned)v);
ofs += sizeof(v);
break;
}
case 'i': {
int32_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P("%ld", (long)v);
port->printf("%ld", (long)v);
ofs += sizeof(v);
break;
}
case 'I': {
uint32_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P("%lu", (unsigned long)v);
port->printf("%lu", (unsigned long)v);
ofs += sizeof(v);
break;
}
case 'q': {
int64_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P("%lld", (long long)v);
port->printf("%lld", (long long)v);
ofs += sizeof(v);
break;
}
case 'Q': {
uint64_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P("%llu", (unsigned long long)v);
port->printf("%llu", (unsigned long long)v);
ofs += sizeof(v);
break;
}
case 'f': {
float v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P("%f", (double)v);
port->printf("%f", (double)v);
ofs += sizeof(v);
break;
}
@ -388,35 +388,35 @@ void DataFlash_Backend::_print_log_entry(uint8_t msg_type,
// note that %f here *really* means a single-precision
// float, so we lose precision printing this double out
// dtoa_engine needed....
port->printf_P("%f", (double)v);
port->printf("%f", (double)v);
ofs += sizeof(v);
break;
}
case 'c': {
int16_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P("%.2f", (double)(0.01f*v));
port->printf("%.2f", (double)(0.01f*v));
ofs += sizeof(v);
break;
}
case 'C': {
uint16_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P("%.2f", (double)(0.01f*v));
port->printf("%.2f", (double)(0.01f*v));
ofs += sizeof(v);
break;
}
case 'e': {
int32_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P("%.2f", (double)(0.01f*v));
port->printf("%.2f", (double)(0.01f*v));
ofs += sizeof(v);
break;
}
case 'E': {
uint32_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P("%.2f", (double)(0.01f*v));
port->printf("%.2f", (double)(0.01f*v));
ofs += sizeof(v);
break;
}
@ -431,7 +431,7 @@ void DataFlash_Backend::_print_log_entry(uint8_t msg_type,
char v[5];
memcpy(&v, &pkt[ofs], sizeof(v));
v[sizeof(v)-1] = 0;
port->printf_P("%s", v);
port->printf("%s", v);
ofs += sizeof(v)-1;
break;
}
@ -439,7 +439,7 @@ void DataFlash_Backend::_print_log_entry(uint8_t msg_type,
char v[17];
memcpy(&v, &pkt[ofs], sizeof(v));
v[sizeof(v)-1] = 0;
port->printf_P("%s", v);
port->printf("%s", v);
ofs += sizeof(v)-1;
break;
}
@ -447,7 +447,7 @@ void DataFlash_Backend::_print_log_entry(uint8_t msg_type,
char v[65];
memcpy(&v, &pkt[ofs], sizeof(v));
v[sizeof(v)-1] = 0;
port->printf_P("%s", v);
port->printf("%s", v);
ofs += sizeof(v)-1;
break;
}
@ -461,7 +461,7 @@ void DataFlash_Backend::_print_log_entry(uint8_t msg_type,
break;
}
if (ofs < msg_len) {
port->printf_P(", ");
port->printf(", ");
}
}
port->println();
@ -477,7 +477,7 @@ void DataFlash_Block::_print_log_formats(AP_HAL::BetterStream *port)
{
for (uint8_t i=0; i<_num_types; i++) {
const struct LogStructure *s = &_structures[i];
port->printf_P("FMT, %u, %u, %S, %S, %S\n",
port->printf("FMT, %u, %u, %S, %S, %S\n",
(unsigned)PGM_UINT8(&s->msg_type),
(unsigned)PGM_UINT8(&s->msg_len),
s->name, s->format, s->labels);
@ -551,9 +551,9 @@ void DataFlash_Block::DumpPageInfo(AP_HAL::BetterStream *port)
{
for (uint16_t count=1; count<=df_NumPages; count++) {
StartRead(count);
port->printf_P("DF page, log file #, log page: %u,\t", (unsigned)count);
port->printf_P("%u,\t", (unsigned)GetFileNumber());
port->printf_P("%u\n", (unsigned)GetFilePage());
port->printf("DF page, log file #, log page: %u,\t", (unsigned)count);
port->printf("%u,\t", (unsigned)GetFileNumber());
port->printf("%u\n", (unsigned)GetFilePage());
}
}
@ -567,10 +567,10 @@ void DataFlash_Block::ShowDeviceInfo(AP_HAL::BetterStream *port)
return;
}
ReadManufacturerID();
port->printf_P("Manufacturer: 0x%02x Device: 0x%04x\n",
port->printf("Manufacturer: 0x%02x Device: 0x%04x\n",
(unsigned)df_manufacturer,
(unsigned)df_device);
port->printf_P("NumPages: %u PageSize: %u\n",
port->printf("NumPages: %u PageSize: %u\n",
(unsigned)df_NumPages+1,
(unsigned)df_PageSize);
}
@ -586,16 +586,16 @@ void DataFlash_Block::ListAvailableLogs(AP_HAL::BetterStream *port)
uint16_t log_end = 0;
if (num_logs == 0) {
port->printf_P("\nNo logs\n\n");
port->printf("\nNo logs\n\n");
return;
}
port->printf_P("\n%u logs\n", (unsigned)num_logs);
port->printf("\n%u logs\n", (unsigned)num_logs);
for (uint16_t i=num_logs; i>=1; i--) {
uint16_t last_log_start = log_start, last_log_end = log_end;
uint16_t temp = last_log_num - i + 1;
get_log_boundaries(temp, log_start, log_end);
port->printf_P("Log %u, start %u, end %u\n",
port->printf("Log %u, start %u, end %u\n",
(unsigned)temp,
(unsigned)log_start,
(unsigned)log_end);

2
libraries/DataFlash/examples/DataFlash_test/DataFlash_test.cpp
View File

@ -110,7 +110,7 @@ void DataFlashTest::loop(void)
void DataFlashTest::print_mode(AP_HAL::BetterStream *port, uint8_t mode)
{
port->printf_P("Mode(%u)", (unsigned)mode);
port->printf("Mode(%u)", (unsigned)mode);
}
/*

2
libraries/GCS_Console/examples/Console/Console.cpp
View File

@ -54,7 +54,7 @@ void setup(void) {
try_send_statustext(MAVLINK_COMM_0, hello, strlen(hello));
hal.console->backend_open();
hal.console->printf_P("Hello hal.console\r\n");
hal.console->printf("Hello hal.console\r\n");
}
int i = 0;

2
libraries/GCS_Console/examples/Console/simplegcs.cpp
View File

@ -71,7 +71,7 @@ void simplegcs_update(mavlink_channel_t chan) {
void handle_message(mavlink_channel_t chan, mavlink_message_t* msg) {
hal.console->printf_P("SimpleGCS Handle Message %d\r\n", msg->msgid);
hal.console->printf("SimpleGCS Handle Message %d\r\n", msg->msgid);
switch (msg->msgid) {
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{

2
libraries/PID/examples/pid/pid.cpp
View File

@ -31,7 +31,7 @@ void setup()
pid.kD(0);
pid.imax(0);
pid.load_gains();
hal.console->printf_P(
hal.console->printf(
"P %f I %f D %f imax %f\n",
pid.kP(), pid.kI(), pid.kD(), pid.imax());
}