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Remove use of PSTR 

The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
This commit is contained in:
Lucas De Marchi 2015-10-24 19:45:41 -02:00 committed by Randy Mackay
parent bd0f0a7536
commit 2c38e31c93
149 changed files with 1042 additions and 1046 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(PSTR("G_Dt_max=%lu\n"), (unsigned long)G_Dt_max);
hal.console->printf_P("G_Dt_max=%lu\n", (unsigned long)G_Dt_max);
}
if (should_log(MASK_LOG_PM))
Log_Write_Performance();

10
APMrover2/GCS_Mavlink.cpp
View File

@ -878,7 +878,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
uint8_t result = MAV_RESULT_UNSUPPORTED;
// do command
send_text_P(MAV_SEVERITY_WARNING,PSTR("command received: "));
send_text_P(MAV_SEVERITY_WARNING,"command received: ");
switch(packet.command) {
@ -1001,7 +1001,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
}
else {
send_text_P(MAV_SEVERITY_WARNING, PSTR("Unsupported preflight calibration"));
send_text_P(MAV_SEVERITY_WARNING, "Unsupported preflight calibration");
}
break;
@ -1137,10 +1137,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// mark the firmware version in the tlog
send_text_P(MAV_SEVERITY_WARNING, PSTR(FIRMWARE_STRING));
send_text_P(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text_P(MAV_SEVERITY_WARNING, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
send_text_P(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif
handle_param_request_list(msg);
break;
@ -1366,7 +1366,7 @@ void Rover::mavlink_delay_cb()
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Initialising APM..."));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Initialising APM...");
}
check_usb_mux();

34
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(PSTR("logs enabled: "));
cliSerial->printf_P("logs enabled: ");
if (0 == g.log_bitmask) {
cliSerial->printf_P(PSTR("none"));
cliSerial->printf_P("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(PSTR(" %S"), PSTR(#_s))
#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf_P(" %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(PSTR("dumping all\n"));
cliSerial->printf_P("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(PSTR("bad log number\n"));
cliSerial->printf_P("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(PSTR("missing log type\n"));
cliSerial->printf_P("missing log type\n");
return(-1);
}
@ -109,10 +109,10 @@ int8_t Rover::select_logs(uint8_t argc, const Menu::arg *argv)
// that name as the argument to the command, and set the bit in
// bits accordingly.
//
if (!strcasecmp_P(argv[1].str, PSTR("all"))) {
if (!strcasecmp_P(argv[1].str, "all")) {
bits = ~0;
} else {
#define TARG(_s) if (!strcasecmp_P(argv[1].str, PSTR(#_s))) bits |= MASK_LOG_ ## _s
#define TARG(_s) if (!strcasecmp_P(argv[1].str, #_s)) bits |= MASK_LOG_ ## _s
TARG(ATTITUDE_FAST);
TARG(ATTITUDE_MED);
TARG(GPS);
@ -130,7 +130,7 @@ int8_t Rover::select_logs(uint8_t argc, const Menu::arg *argv)
#undef TARG
}
if (!strcasecmp_P(argv[0].str, PSTR("enable"))) {
if (!strcasecmp_P(argv[0].str, "enable")) {
g.log_bitmask.set_and_save(g.log_bitmask | bits);
}else{
g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
@ -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(PSTR("\nErasing log...\n"));
cliSerial->printf_P("\nErasing log...\n");
DataFlash.EraseAll();
cliSerial->printf_P(PSTR("\nLog erased.\n"));
cliSerial->printf_P("\nLog erased.\n");
}
@ -391,12 +391,12 @@ void Rover::log_init(void)
{
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
if (!DataFlash.CardInserted()) {
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("No dataflash card inserted"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "No dataflash card inserted");
g.log_bitmask.set(0);
} else if (DataFlash.NeedPrep()) {
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Preparing log system"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Preparing log system");
DataFlash.Prep();
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Prepared log system"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Prepared log system");
for (uint8_t i=0; i<num_gcs; i++) {
gcs[i].reset_cli_timeout();
}
@ -411,11 +411,11 @@ 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(PSTR("\n" FIRMWARE_STRING
"\nFree RAM: %u\n"),
cliSerial->printf_P("\n" FIRMWARE_STRING
"\nFree RAM: %u\n",
(unsigned)hal.util->available_memory());
cliSerial->println_P(PSTR(HAL_BOARD_NAME));
cliSerial->println_P(HAL_BOARD_NAME);
DataFlash.LogReadProcess(list_entry, start_page, end_page,
FUNCTOR_BIND_MEMBER(&Rover::print_mode, void, AP_HAL::BetterStream *, uint8_t),

10
APMrover2/Parameters.cpp
View File

@ -566,26 +566,26 @@ const AP_Param::ConversionInfo conversion_table[] PROGMEM = {
void Rover::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
cliSerial->printf_P(PSTR("Bad var table\n"));
hal.scheduler->panic(PSTR("Bad var table"));
cliSerial->printf_P("Bad var table\n");
hal.scheduler->panic("Bad var table");
}
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
cliSerial->printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
cliSerial->printf_P("Firmware change: erasing EEPROM...\n");
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
cliSerial->println_P(PSTR("done."));
cliSerial->println_P("done.");
} else {
unsigned long before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
cliSerial->printf_P(PSTR("load_all took %luus\n"), micros() - before);
cliSerial->printf_P("load_all took %luus\n", micros() - before);
}
// set a more reasonable default NAVL1_PERIOD for rovers

6
APMrover2/Steering.cpp
View File

@ -31,7 +31,7 @@ bool Rover::auto_check_trigger(void)
// check for user pressing the auto trigger to off
if (auto_triggered && g.auto_trigger_pin != -1 && check_digital_pin(g.auto_trigger_pin) == 1) {
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("AUTO triggered off"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "AUTO triggered off");
auto_triggered = false;
return false;
}
@ -49,7 +49,7 @@ bool Rover::auto_check_trigger(void)
}
if (g.auto_trigger_pin != -1 && check_digital_pin(g.auto_trigger_pin) == 0) {
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Triggered AUTO with pin"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Triggered AUTO with pin");
auto_triggered = true;
return true;
}
@ -57,7 +57,7 @@ bool Rover::auto_check_trigger(void)
if (!is_zero(g.auto_kickstart)) {
float xaccel = ins.get_accel().x;
if (xaccel >= g.auto_kickstart) {
gcs_send_text_fmt(PSTR("Triggered AUTO xaccel=%.1f"), (double)xaccel);
gcs_send_text_fmt("Triggered AUTO xaccel=%.1f", (double)xaccel);
auto_triggered = true;
return true;
}

4
APMrover2/commands.cpp
View File

@ -30,7 +30,7 @@ void Rover::set_next_WP(const struct Location& loc)
// location as the previous waypoint, to prevent immediately
// considering the waypoint complete
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Resetting prev_WP"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Resetting prev_WP");
prev_WP = current_loc;
}
@ -63,7 +63,7 @@ void Rover::init_home()
return;
}
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("init home"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "init home");
ahrs.set_home(gps.location());
home_is_set = true;

20
APMrover2/commands_logic.cpp
View File

@ -17,7 +17,7 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
return false;
}
gcs_send_text_fmt(PSTR("Executing command ID #%i"),cmd.id);
gcs_send_text_fmt("Executing command ID #%i",cmd.id);
// remember the course of our next navigation leg
next_navigation_leg_cd = mission.get_next_ground_course_cd(0);
@ -117,7 +117,7 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
void Rover::exit_mission()
{
if (control_mode == AUTO) {
gcs_send_text_fmt(PSTR("No commands. Can't set AUTO - setting HOLD"));
gcs_send_text_fmt("No commands. Can't set AUTO - setting HOLD");
set_mode(HOLD);
}
}
@ -164,7 +164,7 @@ bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
// this is a command that doesn't require verify
return true;
}
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("verify_conditon: Unsupported command"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"verify_conditon: Unsupported command");
return true;
}
return false;
@ -203,7 +203,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// Check if we need to loiter at this waypoint
if (loiter_time_max > 0) {
if (loiter_time == 0) { // check if we are just starting loiter
gcs_send_text_fmt(PSTR("Reached Waypoint #%i - Loiter for %i seconds"),
gcs_send_text_fmt("Reached Waypoint #%i - Loiter for %i seconds",
(unsigned)cmd.index,
(unsigned)loiter_time_max);
// record the current time i.e. start timer
@ -214,7 +214,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
return false;
}
} else {
gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"),
gcs_send_text_fmt("Reached Waypoint #%i dist %um",
(unsigned)cmd.index,
(unsigned)get_distance(current_loc, next_WP));
}
@ -228,7 +228,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// check if we have gone futher past the wp then last time and output new message if we have
if ((uint32_t)distance_past_wp != (uint32_t)get_distance(current_loc, next_WP)) {
distance_past_wp = get_distance(current_loc, next_WP);
gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"),
gcs_send_text_fmt("Passed Waypoint #%i dist %um",
(unsigned)cmd.index,
(unsigned)distance_past_wp);
}
@ -248,14 +248,14 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
bool Rover::verify_RTL()
{
if (wp_distance <= g.waypoint_radius) {
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("Reached Destination"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"Reached Destination");
rtl_complete = true;
return true;
}
// have we gone past the waypoint?
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_fmt(PSTR("Reached Destination: Distance away %um"),
gcs_send_text_fmt("Reached Destination: Distance away %um",
(unsigned)get_distance(current_loc, next_WP));
rtl_complete = true;
return true;
@ -309,12 +309,12 @@ void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
{
if (cmd.content.speed.target_ms > 0) {
g.speed_cruise.set(cmd.content.speed.target_ms);
gcs_send_text_fmt(PSTR("Cruise speed: %.1f m/s"), (double)g.speed_cruise.get());
gcs_send_text_fmt("Cruise speed: %.1f m/s", (double)g.speed_cruise.get());
}
if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
g.throttle_cruise.set(cmd.content.speed.throttle_pct);
gcs_send_text_fmt(PSTR("Cruise throttle: %.1f"), g.throttle_cruise.get());
gcs_send_text_fmt("Cruise throttle: %.1f", g.throttle_cruise.get());
}
}

4
APMrover2/control_modes.cpp
View File

@ -83,7 +83,7 @@ void Rover::read_trim_switch()
ch7_flag = false;
if (control_mode == MANUAL) {
hal.console->println_P(PSTR("Erasing waypoints"));
hal.console->println_P("Erasing waypoints");
// if SW7 is ON in MANUAL = Erase the Flight Plan
mission.clear();
if (channel_steer->control_in > 3000) {
@ -105,7 +105,7 @@ void Rover::read_trim_switch()
// save command
if(mission.add_cmd(cmd)) {
hal.console->printf_P(PSTR("Learning waypoint %u"), (unsigned)mission.num_commands());
hal.console->printf_P("Learning waypoint %u", (unsigned)mission.num_commands());
}
} else if (control_mode == AUTO) {
// if SW7 is ON in AUTO = set to RTL

2
APMrover2/navigation.cpp
View File

@ -22,7 +22,7 @@ void Rover::navigate()
wp_distance = get_distance(current_loc, next_WP);
if (wp_distance < 0){
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("<navigate> WP error - distance < 0"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"<navigate> WP error - distance < 0");
return;
}

12
APMrover2/sensors.cpp
View File

@ -4,9 +4,9 @@
void Rover::init_barometer(void)
{
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Calibrating barometer"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Calibrating barometer");
barometer.calibrate();
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("barometer calibration complete"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "barometer calibration complete");
}
void Rover::init_sonar(void)
@ -56,7 +56,7 @@ void Rover::read_sonars(void)
obstacle.detected_count++;
}
if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt(PSTR("Sonar1 obstacle %u cm"),
gcs_send_text_fmt("Sonar1 obstacle %u cm",
(unsigned)obstacle.sonar1_distance_cm);
}
obstacle.detected_time_ms = hal.scheduler->millis();
@ -67,7 +67,7 @@ void Rover::read_sonars(void)
obstacle.detected_count++;
}
if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt(PSTR("Sonar2 obstacle %u cm"),
gcs_send_text_fmt("Sonar2 obstacle %u cm",
(unsigned)obstacle.sonar2_distance_cm);
}
obstacle.detected_time_ms = hal.scheduler->millis();
@ -83,7 +83,7 @@ void Rover::read_sonars(void)
obstacle.detected_count++;
}
if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt(PSTR("Sonar obstacle %u cm"),
gcs_send_text_fmt("Sonar obstacle %u cm",
(unsigned)obstacle.sonar1_distance_cm);
}
obstacle.detected_time_ms = hal.scheduler->millis();
@ -96,7 +96,7 @@ void Rover::read_sonars(void)
// no object detected - reset after the turn time
if (obstacle.detected_count >= g.sonar_debounce &&
hal.scheduler->millis() > obstacle.detected_time_ms + g.sonar_turn_time*1000) {
gcs_send_text_fmt(PSTR("Obstacle passed"));
gcs_send_text_fmt("Obstacle passed");
obstacle.detected_count = 0;
obstacle.turn_angle = 0;
}

10
APMrover2/setup.cpp
View File

@ -18,12 +18,12 @@ 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(PSTR("Setup Mode\n"
cliSerial->printf_P("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"
"and then the 'radio' command to configure for your radio.\n"
"\n"));
"\n");
// Run the setup menu. When the menu exits, we will return to the main menu.
setup_menu.run();
@ -34,7 +34,7 @@ int8_t Rover::setup_erase(uint8_t argc, const Menu::arg *argv)
{
int c;
cliSerial->printf_P(PSTR("\nType 'Y' and hit Enter to erase all waypoint and parameter data, any other key to abort: "));
cliSerial->printf_P("\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(PSTR("\nErasing EEPROM\n"));
cliSerial->printf_P("\nErasing EEPROM\n");
StorageManager::erase();
cliSerial->printf_P(PSTR("done\n"));
cliSerial->printf_P("done\n");
}
#endif // CLI_ENABLED

42
APMrover2/system.cpp
View File

@ -11,17 +11,15 @@ The init_ardupilot function processes everything we need for an in - air restart
#if CLI_ENABLED == ENABLED
// This is the help function
// PSTR is an AVR macro to read strings from flash memory
// printf_P is a version of print_f that reads from flash memory
int8_t Rover::main_menu_help(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf_P(PSTR("Commands:\n"
cliSerial->printf_P("Commands:\n"
" logs log readback/setup mode\n"
" setup setup mode\n"
" test test mode\n"
"\n"
"Move the slide switch and reset to FLY.\n"
"\n"));
"\n");
return(0);
}
@ -85,8 +83,8 @@ void Rover::init_ardupilot()
// initialise console serial port
serial_manager.init_console();
cliSerial->printf_P(PSTR("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n"),
cliSerial->printf_P("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
hal.util->available_memory());
//
@ -155,7 +153,7 @@ void Rover::init_ardupilot()
if (g.compass_enabled==true) {
if (!compass.init()|| !compass.read()) {
cliSerial->println_P(PSTR("Compass initialisation failed!"));
cliSerial->println_P("Compass initialisation failed!");
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
@ -199,7 +197,7 @@ void Rover::init_ardupilot()
// menu; they must reset in order to fly.
//
if (g.cli_enabled == 1) {
const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
const prog_char_t *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println_P(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println_P(msg);
@ -228,10 +226,10 @@ void Rover::startup_ground(void)
{
set_mode(INITIALISING);
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("<startup_ground> GROUND START"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"<startup_ground> GROUND START");
#if(GROUND_START_DELAY > 0)
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("<startup_ground> With Delay"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"<startup_ground> With Delay");
delay(GROUND_START_DELAY * 1000);
#endif
@ -255,7 +253,7 @@ void Rover::startup_ground(void)
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash);
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("\n\n Ready to drive."));
gcs_send_text_P(MAV_SEVERITY_WARNING,"\n\n Ready to drive.");
}
/*
@ -366,7 +364,7 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
}
if (failsafe.triggered != 0 && failsafe.bits == 0) {
// a failsafe event has ended
gcs_send_text_fmt(PSTR("Failsafe ended"));
gcs_send_text_fmt("Failsafe ended");
}
failsafe.triggered &= failsafe.bits;
@ -377,7 +375,7 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
control_mode != RTL &&
control_mode != HOLD) {
failsafe.triggered = failsafe.bits;
gcs_send_text_fmt(PSTR("Failsafe trigger 0x%x"), (unsigned)failsafe.triggered);
gcs_send_text_fmt("Failsafe trigger 0x%x", (unsigned)failsafe.triggered);
switch (g.fs_action) {
case 0:
break;
@ -393,12 +391,12 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
void Rover::startup_INS_ground(void)
{
gcs_send_text_P(MAV_SEVERITY_ALERT, PSTR("Warming up ADC..."));
gcs_send_text_P(MAV_SEVERITY_ALERT, "Warming up ADC...");
mavlink_delay(500);
// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
// -----------------------
gcs_send_text_P(MAV_SEVERITY_ALERT, PSTR("Beginning INS calibration; do not move vehicle"));
gcs_send_text_P(MAV_SEVERITY_ALERT, "Beginning INS calibration; do not move vehicle");
mavlink_delay(1000);
ahrs.init();
@ -452,25 +450,25 @@ void Rover::print_mode(AP_HAL::BetterStream *port, uint8_t mode)
{
switch (mode) {
case MANUAL:
port->print_P(PSTR("Manual"));
port->print_P("Manual");
break;
case HOLD:
port->print_P(PSTR("HOLD"));
port->print_P("HOLD");
break;
case LEARNING:
port->print_P(PSTR("Learning"));
port->print_P("Learning");
break;
case STEERING:
port->print_P(PSTR("Steering"));
port->print_P("Steering");
break;
case AUTO:
port->print_P(PSTR("AUTO"));
port->print_P("AUTO");
break;
case RTL:
port->print_P(PSTR("RTL"));
port->print_P("RTL");
break;
default:
port->printf_P(PSTR("Mode(%u)"), (unsigned)mode);
port->printf_P("Mode(%u)", (unsigned)mode);
break;
}
}

62
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(PSTR("Test Mode\n\n"));
cliSerial->printf_P("Test Mode\n\n");
test_menu.run();
return 0;
}
void Rover::print_hit_enter()
{
cliSerial->printf_P(PSTR("Hit Enter to exit.\n\n"));
cliSerial->printf_P("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(PSTR("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
cliSerial->printf_P("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(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
cliSerial->printf_P("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(PSTR("Unplug battery, throttle in neutral, turn off radio.\n"));
cliSerial->printf_P("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(PSTR("THROTTLE CHANGED %d \n"), channel_throttle->control_in);
cliSerial->printf_P("THROTTLE CHANGED %d \n", channel_throttle->control_in);
fail_test++;
}
if (oldSwitchPosition != readSwitch()){
cliSerial->printf_P(PSTR("CONTROL MODE CHANGED: "));
cliSerial->printf_P("CONTROL MODE CHANGED: ");
print_mode(cliSerial, readSwitch());
cliSerial->println();
fail_test++;
}
if(throttle_failsafe_active()) {
cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), channel_throttle->radio_in);
cliSerial->printf_P("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(PSTR("LOS caused no change in APM.\n"));
cliSerial->printf_P("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(PSTR("Relay on\n"));
cliSerial->printf_P("Relay on\n");
relay.on(0);
delay(3000);
if(cliSerial->available() > 0){
return (0);
}
cliSerial->printf_P(PSTR("Relay off\n"));
cliSerial->printf_P("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(PSTR("%u waypoints\n"), (unsigned)mission.num_commands());
cliSerial->printf_P(PSTR("Hit radius: %f\n"), g.waypoint_radius);
cliSerial->printf_P("%u waypoints\n", (unsigned)mission.num_commands());
cliSerial->printf_P("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(PSTR("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n"),
cliSerial->printf_P("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(PSTR("Control CH "));
cliSerial->printf_P("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(PSTR("Position %d\n"), switchPosition);
cliSerial->printf_P("Position %d\n", switchPosition);
oldSwitchPosition = switchPosition;
}
if(cliSerial->available() > 0){
@ -266,7 +266,7 @@ int8_t Rover::test_modeswitch(uint8_t argc, const Menu::arg *argv)
*/
int8_t Rover::test_logging(uint8_t argc, const Menu::arg *argv)
{
cliSerial->println_P(PSTR("Testing dataflash logging"));
cliSerial->println_P("Testing dataflash logging");
DataFlash.ShowDeviceInfo(cliSerial);
return 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(PSTR("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n"),
cliSerial->printf_P("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(PSTR("."));
cliSerial->printf_P(".");
}
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(PSTR("Calibrating."));
//cliSerial->printf_P("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(PSTR("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n"),
cliSerial->printf_P("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,
@ -348,22 +348,22 @@ int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
void Rover::print_enabled(bool b)
{
if(b)
cliSerial->printf_P(PSTR("en"));
cliSerial->printf_P("en");
else
cliSerial->printf_P(PSTR("dis"));
cliSerial->printf_P(PSTR("abled\n"));
cliSerial->printf_P("dis");
cliSerial->printf_P("abled\n");
}
int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
{
if (!g.compass_enabled) {
cliSerial->printf_P(PSTR("Compass: "));
cliSerial->printf_P("Compass: ");
print_enabled(false);
return (0);
}
if (!compass.init()) {
cliSerial->println_P(PSTR("Compass initialisation failed!"));
cliSerial->println_P("Compass initialisation failed!");
return 0;
}
ahrs.init();
@ -401,12 +401,12 @@ 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(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
cliSerial->printf_P("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);
} else {
cliSerial->println_P(PSTR("compass not healthy"));
cliSerial->println_P("compass not healthy");
}
counter=0;
}
@ -417,7 +417,7 @@ int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
// save offsets. This allows you to get sane offset values using
// the CLI before you go flying.
cliSerial->println_P(PSTR("saving offsets"));
cliSerial->println_P("saving offsets");
compass.save_offsets();
return (0);
}
@ -432,7 +432,7 @@ int8_t Rover::test_sonar(uint8_t argc, const Menu::arg *argv)
sonar.update();
if (sonar.status() == RangeFinder::RangeFinder_NotConnected) {
cliSerial->println_P(PSTR("WARNING: Sonar is not enabled"));
cliSerial->println_P("WARNING: Sonar is not enabled");
}
print_hit_enter();
@ -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(PSTR("sonar1 dist=%.1f:%.1fcm volt1=%.2f:%.2f sonar2 dist=%.1f:%.1fcm volt2=%.2f:%.2f\n"),
cliSerial->printf_P("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,

6
AntennaTracker/GCS_Mavlink.cpp
View File

@ -599,7 +599,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
uint8_t result = MAV_RESULT_UNSUPPORTED;
// do command
send_text_P(MAV_SEVERITY_WARNING,PSTR("command received: "));
send_text_P(MAV_SEVERITY_WARNING,"command received: ");
switch(packet.command) {
@ -827,7 +827,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// check if this is the HOME wp
if (packet.seq == 0) {
tracker.set_home(tell_command); // New home in EEPROM
send_text_P(MAV_SEVERITY_WARNING,PSTR("new HOME received"));
send_text_P(MAV_SEVERITY_WARNING,"new HOME received");
waypoint_receiving = false;
}
@ -919,7 +919,7 @@ void Tracker::mavlink_delay_cb()
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Initialising APM..."));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Initialising APM...");
}
in_mavlink_delay = false;
}

6
AntennaTracker/Parameters.cpp
View File

@ -288,16 +288,16 @@ void Tracker::load_parameters(void)
g.format_version != Parameters::k_format_version) {
// erase all parameters
hal.console->printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
hal.console->printf_P("Firmware change: erasing EEPROM...\n");
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
hal.console->println_P(PSTR("done."));
hal.console->println_P("done.");
} else {
uint32_t before = hal.scheduler->micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
hal.console->printf_P(PSTR("load_all took %luus\n"), (unsigned long)(hal.scheduler->micros() - before));
hal.console->printf_P("load_all took %luus\n", (unsigned long)(hal.scheduler->micros() - before));
}
}

4
AntennaTracker/sensors.cpp
View File

@ -4,9 +4,9 @@
void Tracker::init_barometer(void)
{
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Calibrating barometer"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Calibrating barometer");
barometer.calibrate();
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("barometer calibration complete"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "barometer calibration complete");
}
// read the barometer and return the updated altitude in meters

2
AntennaTracker/servos.cpp
View File

@ -248,7 +248,7 @@ void Tracker::update_yaw_position_servo(float yaw)
}
if (new_slew_dir != slew_dir) {
tracker.gcs_send_text_fmt(PSTR("SLEW: %d/%d err=%ld servo=%ld ez=%.3f"),
tracker.gcs_send_text_fmt("SLEW: %d/%d err=%ld servo=%ld ez=%.3f",
(int)slew_dir, (int)new_slew_dir,
(long)angle_err,
(long)channel_yaw.servo_out,

10
AntennaTracker/system.cpp
View File

@ -20,8 +20,8 @@ void Tracker::init_tracker()
// initialise console serial port
serial_manager.init_console();
hal.console->printf_P(PSTR("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %u\n"),
hal.console->printf_P("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %u\n",
hal.util->available_memory());
// Check the EEPROM format version before loading any parameters from EEPROM
@ -68,7 +68,7 @@ void Tracker::init_tracker()
if (g.compass_enabled==true) {
if (!compass.init() || !compass.read()) {
hal.console->println_P(PSTR("Compass initialisation failed!"));
hal.console->println_P("Compass initialisation failed!");
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
@ -98,7 +98,7 @@ void Tracker::init_tracker()
if (fabsf(g.start_latitude) <= 90.0f && fabsf(g.start_longitude) <= 180.0f) {
current_loc.lat = g.start_latitude * 1.0e7f;
current_loc.lng = g.start_longitude * 1.0e7f;
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("ignoring invalid START_LATITUDE or START_LONGITUDE parameter"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "ignoring invalid START_LATITUDE or START_LONGITUDE parameter");
}
// see if EEPROM has a default location as well
@ -108,7 +108,7 @@ void Tracker::init_tracker()
init_capabilities();
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("\nReady to track."));
gcs_send_text_P(MAV_SEVERITY_WARNING,"\nReady to track.");
hal.scheduler->delay(1000); // Why????
set_mode(AUTO); // tracking

6
ArduCopter/AP_State.cpp
View File

@ -43,15 +43,15 @@ void Copter::set_simple_mode(uint8_t b)
if(ap.simple_mode != b){
if(b == 0){
Log_Write_Event(DATA_SET_SIMPLE_OFF);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, PSTR("Simple:OFF"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Simple:OFF");
}else if(b == 1){
Log_Write_Event(DATA_SET_SIMPLE_ON);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, PSTR("Simple:ON"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Simple:ON");
}else{
// initialise super simple heading
update_super_simple_bearing(true);
Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, PSTR("SuperSimple:ON"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SuperSimple:ON");
}
ap.simple_mode = b;
}

2
ArduCopter/ArduCopter.cpp
View File

@ -206,7 +206,7 @@ void Copter::perf_update(void)
if (should_log(MASK_LOG_PM))
Log_Write_Performance();
if (scheduler.debug()) {
gcs_send_text_fmt(PSTR("PERF: %u/%u %lu %lu\n"),
gcs_send_text_fmt("PERF: %u/%u %lu %lu\n",
(unsigned)perf_info_get_num_long_running(),
(unsigned)perf_info_get_num_loops(),
(unsigned long)perf_info_get_max_time(),

34
ArduCopter/GCS_Mavlink.cpp
View File

@ -1022,12 +1022,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: // MAV ID: 21
{
// mark the firmware version in the tlog
send_text_P(MAV_SEVERITY_WARNING, PSTR(FIRMWARE_STRING));
send_text_P(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text_P(MAV_SEVERITY_WARNING, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
send_text_P(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif
send_text_P(MAV_SEVERITY_WARNING, PSTR("Frame: " FRAME_CONFIG_STRING));
send_text_P(MAV_SEVERITY_WARNING, "Frame: " FRAME_CONFIG_STRING);
handle_param_request_list(msg);
break;
}
@ -1518,13 +1518,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_DO_SEND_BANNER: {
result = MAV_RESULT_ACCEPTED;
send_text_P(MAV_SEVERITY_WARNING, PSTR(FIRMWARE_STRING));
send_text_P(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text_P(MAV_SEVERITY_WARNING, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
send_text_P(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif
send_text_P(MAV_SEVERITY_WARNING, PSTR("Frame: " FRAME_CONFIG_STRING));
send_text_P(MAV_SEVERITY_WARNING, "Frame: " FRAME_CONFIG_STRING);
#if CONFIG_HAL_BOARD != HAL_BOARD_APM1 && CONFIG_HAL_BOARD != HAL_BOARD_APM2
// send system ID if we can
@ -1846,12 +1846,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (packet.idx >= copter.rally.get_rally_total() ||
packet.idx >= copter.rally.get_rally_max()) {
send_text_P(MAV_SEVERITY_WARNING,PSTR("bad rally point message ID"));
send_text_P(MAV_SEVERITY_WARNING,"bad rally point message ID");
break;
}
if (packet.count != copter.rally.get_rally_total()) {
send_text_P(MAV_SEVERITY_WARNING,PSTR("bad rally point message count"));
send_text_P(MAV_SEVERITY_WARNING,"bad rally point message count");
break;
}
@ -1864,7 +1864,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
rally_point.flags = packet.flags;
if (!copter.rally.set_rally_point_with_index(packet.idx, rally_point)) {
send_text_P(MAV_SEVERITY_CRITICAL, PSTR("error setting rally point"));
send_text_P(MAV_SEVERITY_CRITICAL, "error setting rally point");
}
break;
@ -1872,27 +1872,27 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
//send a rally point to the GCS
case MAVLINK_MSG_ID_RALLY_FETCH_POINT: {
//send_text_P(MAV_SEVERITY_CRITICAL, PSTR("## getting rally point in GCS_Mavlink.cpp 1")); // #### TEMP
//send_text_P(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 1"); // #### TEMP
mavlink_rally_fetch_point_t packet;
mavlink_msg_rally_fetch_point_decode(msg, &packet);
//send_text_P(MAV_SEVERITY_CRITICAL, PSTR("## getting rally point in GCS_Mavlink.cpp 2")); // #### TEMP
//send_text_P(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 2"); // #### TEMP
if (packet.idx > copter.rally.get_rally_total()) {
send_text_P(MAV_SEVERITY_WARNING, PSTR("bad rally point index"));
send_text_P(MAV_SEVERITY_WARNING, "bad rally point index");
break;
}
//send_text_P(MAV_SEVERITY_CRITICAL, PSTR("## getting rally point in GCS_Mavlink.cpp 3")); // #### TEMP
//send_text_P(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 3"); // #### TEMP
RallyLocation rally_point;
if (!copter.rally.get_rally_point_with_index(packet.idx, rally_point)) {
send_text_P(MAV_SEVERITY_WARNING, PSTR("failed to set rally point"));
send_text_P(MAV_SEVERITY_WARNING, "failed to set rally point");
break;
}
//send_text_P(MAV_SEVERITY_CRITICAL, PSTR("## getting rally point in GCS_Mavlink.cpp 4")); // #### TEMP
//send_text_P(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 4"); // #### TEMP
mavlink_msg_rally_point_send_buf(msg,
chan, msg->sysid, msg->compid, packet.idx,
@ -1900,7 +1900,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
rally_point.alt, rally_point.break_alt, rally_point.land_dir,
rally_point.flags);
//send_text_P(MAV_SEVERITY_CRITICAL, PSTR("## getting rally point in GCS_Mavlink.cpp 5")); // #### TEMP
//send_text_P(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 5"); // #### TEMP
break;
}
@ -1970,7 +1970,7 @@ void Copter::mavlink_delay_cb()
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Initialising APM..."));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Initialising APM...");
}
check_usb_mux();

64
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(PSTR("logs enabled: "));
cliSerial->printf_P("logs enabled: ");
if (0 == g.log_bitmask) {
cliSerial->printf_P(PSTR("none"));
cliSerial->printf_P("none");
}else{
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) cliSerial->printf_P(PSTR(" ATTITUDE_FAST"));
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) cliSerial->printf_P(PSTR(" ATTITUDE_MED"));
if (g.log_bitmask & MASK_LOG_GPS) cliSerial->printf_P(PSTR(" GPS"));
if (g.log_bitmask & MASK_LOG_PM) cliSerial->printf_P(PSTR(" PM"));
if (g.log_bitmask & MASK_LOG_CTUN) cliSerial->printf_P(PSTR(" CTUN"));
if (g.log_bitmask & MASK_LOG_NTUN) cliSerial->printf_P(PSTR(" NTUN"));
if (g.log_bitmask & MASK_LOG_RCIN) cliSerial->printf_P(PSTR(" RCIN"));
if (g.log_bitmask & MASK_LOG_IMU) cliSerial->printf_P(PSTR(" IMU"));
if (g.log_bitmask & MASK_LOG_CMD) cliSerial->printf_P(PSTR(" CMD"));
if (g.log_bitmask & MASK_LOG_CURRENT) cliSerial->printf_P(PSTR(" CURRENT"));
if (g.log_bitmask & MASK_LOG_RCOUT) cliSerial->printf_P(PSTR(" RCOUT"));
if (g.log_bitmask & MASK_LOG_OPTFLOW) cliSerial->printf_P(PSTR(" OPTFLOW"));
if (g.log_bitmask & MASK_LOG_COMPASS) cliSerial->printf_P(PSTR(" COMPASS"));
if (g.log_bitmask & MASK_LOG_CAMERA) cliSerial->printf_P(PSTR(" CAMERA"));
if (g.log_bitmask & MASK_LOG_PID) cliSerial->printf_P(PSTR(" PID"));
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");
}
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(PSTR("dumping all\n"));
cliSerial->printf_P("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(PSTR("bad log number\n"));
cliSerial->printf_P("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(PSTR("missing log type\n"));
cliSerial->printf_P("missing log type\n");
return(-1);
}
@ -107,10 +107,10 @@ int8_t Copter::select_logs(uint8_t argc, const Menu::arg *argv)
// that name as the argument to the command, and set the bit in
// bits accordingly.
//
if (!strcasecmp_P(argv[1].str, PSTR("all"))) {
if (!strcasecmp_P(argv[1].str, "all")) {
bits = ~0;
} else {
#define TARG(_s) if (!strcasecmp_P(argv[1].str, PSTR(# _s))) bits |= MASK_LOG_ ## _s
#define TARG(_s) if (!strcasecmp_P(argv[1].str, # _s)) bits |= MASK_LOG_ ## _s
TARG(ATTITUDE_FAST);
TARG(ATTITUDE_MED);
TARG(GPS);
@ -129,7 +129,7 @@ int8_t Copter::select_logs(uint8_t argc, const Menu::arg *argv)
#undef TARG
}
if (!strcasecmp_P(argv[0].str, PSTR("enable"))) {
if (!strcasecmp_P(argv[0].str, "enable")) {
g.log_bitmask.set_and_save(g.log_bitmask | bits);
}else{
g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
@ -147,9 +147,9 @@ int8_t Copter::process_logs(uint8_t argc, const Menu::arg *argv)
void Copter::do_erase_logs(void)
{
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Erasing logs\n"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Erasing logs\n");
DataFlash.EraseAll();
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Log erase complete\n"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Log erase complete\n");
}
#if AUTOTUNE_ENABLED == ENABLED
@ -767,12 +767,12 @@ const struct LogStructure Copter::log_structure[] PROGMEM = {
// Read the DataFlash log memory
void Copter::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page)
{
cliSerial->printf_P(PSTR("\n" FIRMWARE_STRING
cliSerial->printf_P("\n" FIRMWARE_STRING
"\nFree RAM: %u\n"
"\nFrame: " FRAME_CONFIG_STRING "\n"),
"\nFrame: " FRAME_CONFIG_STRING "\n",
(unsigned) hal.util->available_memory());
cliSerial->println_P(PSTR(HAL_BOARD_NAME));
cliSerial->println_P(HAL_BOARD_NAME);
DataFlash.LogReadProcess(list_entry, start_page, end_page,
FUNCTOR_BIND_MEMBER(&Copter::print_flight_mode, void, AP_HAL::BetterStream *, uint8_t),
@ -783,7 +783,7 @@ void Copter::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_pag
void Copter::Log_Write_Vehicle_Startup_Messages()
{
// only 200(?) bytes are guaranteed by DataFlash
DataFlash.Log_Write_Message_P(PSTR("Frame: " FRAME_CONFIG_STRING));
DataFlash.Log_Write_Message_P("Frame: " FRAME_CONFIG_STRING);
DataFlash.Log_Write_Mode(control_mode);
}
@ -807,12 +807,12 @@ void Copter::log_init(void)
{
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
if (!DataFlash.CardInserted()) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("No dataflash inserted"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "No dataflash inserted");
g.log_bitmask.set(0);
} else if (DataFlash.NeedPrep()) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Preparing log system"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Preparing log system");
DataFlash.Prep();
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Prepared log system"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Prepared log system");
for (uint8_t i=0; i<num_gcs; i++) {
gcs[i].reset_cli_timeout();
}

10
ArduCopter/Parameters.cpp
View File

@ -1148,8 +1148,8 @@ const AP_Param::ConversionInfo conversion_table[] PROGMEM = {
void Copter::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
cliSerial->printf_P(PSTR("Bad var table\n"));
hal.scheduler->panic(PSTR("Bad var table"));
cliSerial->printf_P("Bad var table\n");
hal.scheduler->panic("Bad var table");
}
// disable centrifugal force correction, it will be enabled as part of the arming process
@ -1160,17 +1160,17 @@ void Copter::load_parameters(void)
g.format_version != Parameters::k_format_version) {
// erase all parameters
cliSerial->printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
cliSerial->printf_P("Firmware change: erasing EEPROM...\n");
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
cliSerial->println_P(PSTR("done."));
cliSerial->println_P("done.");
} else {
uint32_t before = micros();
// 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(PSTR("load_all took %luus\n"), micros() - before);
cliSerial->printf_P("load_all took %luus\n", micros() - before);
}
}

4
ArduCopter/commands_logic.cpp
View File

@ -610,7 +610,7 @@ bool Copter::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs_send_text_fmt(PSTR("Reached Command #%i"),cmd.index);
gcs_send_text_fmt("Reached Command #%i",cmd.index);
return true;
}else{
return false;
@ -692,7 +692,7 @@ bool Copter::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs_send_text_fmt(PSTR("Reached Command #%i"),cmd.index);
gcs_send_text_fmt("Reached Command #%i",cmd.index);
return true;
}else{
return false;

20
ArduCopter/compassmot.cpp
View File

@ -37,7 +37,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
// check compass is enabled
if (!g.compass_enabled) {
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("compass disabled\n"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "compass disabled\n");
ap.compass_mot = false;
return 1;
}
@ -46,7 +46,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
compass.read();
for (uint8_t i=0; i<compass.get_count(); i++) {
if (!compass.healthy(i)) {
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("check compass"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "check compass");
ap.compass_mot = false;
return 1;
}
@ -55,7 +55,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
// check if radio is calibrated
pre_arm_rc_checks();
if (!ap.pre_arm_rc_check) {
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("RC not calibrated"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "RC not calibrated");
ap.compass_mot = false;
return 1;
}
@ -63,14 +63,14 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
// check throttle is at zero
read_radio();
if (channel_throttle->control_in != 0) {
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("thr not zero"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "thr not zero");
ap.compass_mot = false;
return 1;
}
// check we are landed
if (!ap.land_complete) {
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Not landed"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "Not landed");
ap.compass_mot = false;
return 1;
}
@ -95,13 +95,13 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
AP_Notify::flags.esc_calibration = true;
// warn user we are starting calibration
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("STARTING CALIBRATION"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "STARTING CALIBRATION");
// inform what type of compensation we are attempting
if (comp_type == AP_COMPASS_MOT_COMP_CURRENT) {
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("CURRENT"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "CURRENT");
} else{
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("THROTTLE"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "THROTTLE");
}
// disable throttle and battery failsafe
@ -245,10 +245,10 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
}
compass.save_motor_compensation();
// display success message
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Calibration Successful!"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "Calibration Successful!");
} else {
// compensation vector never updated, report failure
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Failed!"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "Failed!");
compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED);
}

10
ArduCopter/control_autotune.cpp
View File

@ -1007,19 +1007,19 @@ void Copter::autotune_update_gcs(uint8_t message_id)
{
switch (message_id) {
case AUTOTUNE_MESSAGE_STARTED:
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("AutoTune: Started"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"AutoTune: Started");
break;
case AUTOTUNE_MESSAGE_STOPPED:
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("AutoTune: Stopped"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"AutoTune: Stopped");
break;
case AUTOTUNE_MESSAGE_SUCCESS:
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("AutoTune: Success"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"AutoTune: Success");
break;
case AUTOTUNE_MESSAGE_FAILED:
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("AutoTune: Failed"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"AutoTune: Failed");
break;
case AUTOTUNE_MESSAGE_SAVED_GAINS:
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("AutoTune: Saved Gains"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"AutoTune: Saved Gains");
break;
}
}

8
ArduCopter/crash_check.cpp
View File

@ -47,7 +47,7 @@ void Copter::crash_check()
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
// send message to gcs
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Crash: Disarming"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Crash: Disarming");
// disarm motors
init_disarm_motors();
}
@ -136,7 +136,7 @@ void Copter::parachute_check()
void Copter::parachute_release()
{
// send message to gcs and dataflash
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Parachute: Released!"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Parachute: Released!");
Log_Write_Event(DATA_PARACHUTE_RELEASED);
// disarm motors
@ -159,7 +159,7 @@ void Copter::parachute_manual_release()
// do not release if we are landed or below the minimum altitude above home
if (ap.land_complete) {
// warn user of reason for failure
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Parachute: Landed"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Parachute: Landed");
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_LANDED);
return;
@ -168,7 +168,7 @@ void Copter::parachute_manual_release()
// do not release if we are landed or below the minimum altitude above home
if ((parachute.alt_min() != 0 && (current_loc.alt < (int32_t)parachute.alt_min() * 100))) {
// warn user of reason for failure
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Parachute: Too Low"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Parachute: Too Low");
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_TOO_LOW);
return;

2
ArduCopter/ekf_check.cpp
View File

@ -60,7 +60,7 @@ void Copter::ekf_check()
Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_EKFCHECK_BAD_VARIANCE);
// send message to gcs
if ((hal.scheduler->millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("EKF variance"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"EKF variance");
ekf_check_state.last_warn_time = hal.scheduler->millis();
}
failsafe_ekf_event();

8
ArduCopter/esc_calibration.cpp
View File

@ -39,7 +39,7 @@ void Copter::esc_calibration_startup_check()
// we will enter esc_calibrate mode on next reboot
g.esc_calibrate.set_and_save(ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
// send message to gcs
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("ESC Calibration: restart board"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"ESC Calibration: restart board");
// turn on esc calibration notification
AP_Notify::flags.esc_calibration = true;
// block until we restart
@ -85,7 +85,7 @@ void Copter::esc_calibration_passthrough()
motors.set_update_rate(50);
// send message to GCS
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("ESC Calibration: passing pilot throttle to ESCs"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"ESC Calibration: passing pilot throttle to ESCs");
while(1) {
// arm motors
@ -115,7 +115,7 @@ void Copter::esc_calibration_auto()
motors.set_update_rate(50);
// send message to GCS
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("ESC Calibration: auto calibration"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"ESC Calibration: auto calibration");
// arm and enable motors
motors.armed(true);
@ -131,7 +131,7 @@ void Copter::esc_calibration_auto()
// wait for safety switch to be pressed
while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (!printed_msg) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("ESC Calibration: push safety switch"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"ESC Calibration: push safety switch");
printed_msg = true;
}
delay(10);

2
ArduCopter/events.cpp
View File

@ -159,7 +159,7 @@ void Copter::failsafe_battery_event(void)
set_failsafe_battery(true);
// warn the ground station and log to dataflash
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Low Battery!"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Low Battery!");
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
}

34
ArduCopter/flight_mode.cpp
View File

@ -315,55 +315,55 @@ void Copter::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
{
switch (mode) {
case STABILIZE:
port->print_P(PSTR("STABILIZE"));
port->print_P("STABILIZE");
break;
case ACRO:
port->print_P(PSTR("ACRO"));
port->print_P("ACRO");
break;
case ALT_HOLD:
port->print_P(PSTR("ALT_HOLD"));
port->print_P("ALT_HOLD");
break;
case AUTO:
port->print_P(PSTR("AUTO"));
port->print_P("AUTO");
break;
case GUIDED:
port->print_P(PSTR("GUIDED"));
port->print_P("GUIDED");
break;
case LOITER:
port->print_P(PSTR("LOITER"));
port->print_P("LOITER");
break;
case RTL:
port->print_P(PSTR("RTL"));
port->print_P("RTL");
break;
case CIRCLE:
port->print_P(PSTR("CIRCLE"));
port->print_P("CIRCLE");
break;
case LAND:
port->print_P(PSTR("LAND"));
port->print_P("LAND");
break;
case OF_LOITER:
port->print_P(PSTR("OF_LOITER"));
port->print_P("OF_LOITER");
break;
case DRIFT:
port->print_P(PSTR("DRIFT"));
port->print_P("DRIFT");
break;
case SPORT:
port->print_P(PSTR("SPORT"));
port->print_P("SPORT");
break;
case FLIP:
port->print_P(PSTR("FLIP"));
port->print_P("FLIP");
break;
case AUTOTUNE:
port->print_P(PSTR("AUTOTUNE"));
port->print_P("AUTOTUNE");
break;
case POSHOLD:
port->print_P(PSTR("POSHOLD"));
port->print_P("POSHOLD");
break;
case BRAKE:
port->print_P(PSTR("BRAKE"));
port->print_P("BRAKE");
break;
default:
port->printf_P(PSTR("Mode(%u)"), (unsigned)mode);
port->printf_P("Mode(%u)", (unsigned)mode);
break;
}
}

6
ArduCopter/motor_test.cpp
View File

@ -74,19 +74,19 @@ bool Copter::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
// check rc has been calibrated
pre_arm_rc_checks();
if(check_rc && !ap.pre_arm_rc_check) {
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Motor Test: RC not calibrated"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL,"Motor Test: RC not calibrated");
return false;
}
// ensure we are landed
if (!ap.land_complete) {
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Motor Test: vehicle not landed"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL,"Motor Test: vehicle not landed");
return false;
}
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Motor Test: Safety Switch"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL,"Motor Test: Safety Switch");
return false;
}

112
ArduCopter/motors.cpp
View File

@ -149,7 +149,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
}
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("ARMING MOTORS"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "ARMING MOTORS");
#endif
// Remember Orientation
@ -178,7 +178,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
// if we are using motor interlock switch and it's enabled, fail to arm
if (ap.using_interlock && motors.get_interlock()){
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Motor Interlock Enabled"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Motor Interlock Enabled");
AP_Notify::flags.armed = false;
in_arm_motors = false;
return false;
@ -190,7 +190,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
set_motor_emergency_stop(false);
// if we are using motor Estop switch, it must not be in Estop position
} else if (check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && ap.motor_emergency_stop){
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Motor Emergency Stopped"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped");
AP_Notify::flags.armed = false;
in_arm_motors = false;
return false;
@ -246,7 +246,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// at the same time. This cannot be allowed.
if (check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK) && check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Interlock/E-Stop Conflict"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Interlock/E-Stop Conflict");
}
return false;
}
@ -258,7 +258,7 @@ bool Copter::pre_arm_checks(bool display_failure)
set_using_interlock(check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK));
if (ap.using_interlock && motors.get_interlock()){
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Motor Interlock Enabled"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Motor Interlock Enabled");
}
return false;
}
@ -267,7 +267,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// and warn if it is
if (check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && ap.motor_emergency_stop){
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Motor Emergency Stopped"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Motor Emergency Stopped");
}
return false;
}
@ -291,7 +291,7 @@ bool Copter::pre_arm_checks(bool display_failure)
pre_arm_rc_checks();
if(!ap.pre_arm_rc_check) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: RC not calibrated"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: RC not calibrated");
}
return false;
}
@ -300,7 +300,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// barometer health check
if(!barometer.all_healthy()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Barometer not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Barometer not healthy");
}
return false;
}
@ -312,7 +312,7 @@ bool Copter::pre_arm_checks(bool display_failure)
if (using_baro_ref) {
if (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Altitude disparity"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Altitude disparity");
}
return false;
}
@ -324,7 +324,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check the primary compass is healthy
if(!compass.healthy()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Compass not healthy");
}
return false;
}
@ -332,7 +332,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check compass learning is on or offsets have been set
if(!compass.configured()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass not calibrated"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Compass not calibrated");
}
return false;
}
@ -341,7 +341,7 @@ bool Copter::pre_arm_checks(bool display_failure)
Vector3f offsets = compass.get_offsets();
if(offsets.length() > COMPASS_OFFSETS_MAX) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass offsets too high"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Compass offsets too high");
}
return false;
}
@ -350,7 +350,7 @@ bool Copter::pre_arm_checks(bool display_failure)
float mag_field = compass.get_field().length();
if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check mag field"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Check mag field");
}
return false;
}
@ -358,7 +358,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check all compasses point in roughly same direction
if (!compass.consistent()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: inconsistent compasses"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent compasses");
}
return false;
}
@ -374,7 +374,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check fence is initialised
if(!fence.pre_arm_check()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: check fence"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: check fence");
}
return false;
}
@ -385,7 +385,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check accelerometers have been calibrated
if(!ins.accel_calibrated_ok_all()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Accels not calibrated"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Accels not calibrated");
}
return false;
}
@ -393,7 +393,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check accels are healthy
if(!ins.get_accel_health_all()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Accelerometers not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Accelerometers not healthy");
}
return false;
}
@ -416,7 +416,7 @@ bool Copter::pre_arm_checks(bool display_failure)
}
if (vec_diff.length() > threshold) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: inconsistent Accelerometers"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent Accelerometers");
}
return false;
}
@ -426,7 +426,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check gyros are healthy
if(!ins.get_gyro_health_all()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Gyros not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Gyros not healthy");
}
return false;
}
@ -438,7 +438,7 @@ bool Copter::pre_arm_checks(bool display_failure)
Vector3f vec_diff = ins.get_gyro(i) - ins.get_gyro();
if (vec_diff.length() > PREARM_MAX_GYRO_VECTOR_DIFF) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: inconsistent Gyros"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent Gyros");
}
return false;
}
@ -448,7 +448,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// get ekf attitude (if bad, it's usually the gyro biases)
if (!pre_arm_ekf_attitude_check()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: gyros still settling"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: gyros still settling");
}
return false;
}
@ -459,7 +459,7 @@ bool Copter::pre_arm_checks(bool display_failure)
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if(hal.analogin->board_voltage() < BOARD_VOLTAGE_MIN || hal.analogin->board_voltage() > BOARD_VOLTAGE_MAX) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check Board Voltage"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Check Board Voltage");
}
return false;
}
@ -471,7 +471,7 @@ bool Copter::pre_arm_checks(bool display_failure)
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check Battery"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Check Battery");
}
return false;
}
@ -483,7 +483,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// ensure ch7 and ch8 have different functions
if (check_duplicate_auxsw()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Duplicate Aux Switch Options"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Duplicate Aux Switch Options");
}
return false;
}
@ -493,7 +493,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900
if (channel_throttle->radio_min <= g.failsafe_throttle_value+10 || g.failsafe_throttle_value < 910) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check FS_THR_VALUE"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Check FS_THR_VALUE");
}
return false;
}
@ -502,7 +502,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// lean angle parameter check
if (aparm.angle_max < 1000 || aparm.angle_max > 8000) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check ANGLE_MAX"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Check ANGLE_MAX");
}
return false;
}
@ -510,7 +510,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// acro balance parameter check
if ((g.acro_balance_roll > g.p_stabilize_roll.kP()) || (g.acro_balance_pitch > g.p_stabilize_pitch.kP())) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: ACRO_BAL_ROLL/PITCH"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: ACRO_BAL_ROLL/PITCH");
}
return false;
}
@ -519,7 +519,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check range finder if optflow enabled
if (optflow.enabled() && !sonar.pre_arm_check()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: check range finder"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: check range finder");
}
return false;
}
@ -538,9 +538,9 @@ bool Copter::pre_arm_checks(bool display_failure)
if (g.failsafe_throttle != FS_THR_DISABLED && channel_throttle->radio_in < g.failsafe_throttle_value) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Collective below Failsafe"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Collective below Failsafe");
#else
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Throttle below Failsafe"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Throttle below Failsafe");
#endif
}
return false;
@ -601,7 +601,7 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
// always check if inertial nav has started and is ready
if(!ahrs.healthy()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Waiting for Nav Checks"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Nav Checks");
}
return false;
}
@ -627,9 +627,9 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
if (display_failure) {
const char *reason = ahrs.prearm_failure_reason();
if (reason) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: %s"), reason);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
} else {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Need 3D Fix"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: Need 3D Fix");
}
}
AP_Notify::flags.pre_arm_gps_check = false;
@ -643,7 +643,7 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset);
if (mag_variance.length() >= g.fs_ekf_thresh) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: EKF compass variance"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: EKF compass variance");
}
return false;
}
@ -651,7 +651,7 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
// check home and EKF origin are not too far
if (far_from_EKF_origin(ahrs.get_home())) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: EKF-home variance"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: EKF-home variance");
}
AP_Notify::flags.pre_arm_gps_check = false;
return false;
@ -666,7 +666,7 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
// warn about hdop separately - to prevent user confusion with no gps lock
if (gps.get_hdop() > g.gps_hdop_good) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: High GPS HDOP"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"PreArm: High GPS HDOP");
}
AP_Notify::flags.pre_arm_gps_check = false;
return false;
@ -700,20 +700,20 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
if(!ins.get_accel_health_all()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Accelerometers not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Accelerometers not healthy");
}
return false;
}
if(!ins.get_gyro_health_all()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Gyros not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Gyros not healthy");
}
return false;
}
// get ekf attitude (if bad, it's usually the gyro biases)
if (!pre_arm_ekf_attitude_check()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: gyros still settling"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: gyros still settling");
}
return false;
}
@ -722,14 +722,14 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// always check if inertial nav has started and is ready
if(!ahrs.healthy()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Waiting for Nav Checks"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Waiting for Nav Checks");
}
return false;
}
if(compass.is_calibrating()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Compass calibration running"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Compass calibration running");
}
return false;
}
@ -737,7 +737,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// always check if the current mode allows arming
if (!mode_allows_arming(control_mode, arming_from_gcs)) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Mode not armable"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Mode not armable");
}
return false;
}
@ -757,7 +757,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// baro health check
if (!barometer.all_healthy()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Barometer not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Barometer not healthy");
}
return false;
}
@ -768,7 +768,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
if (using_baro_ref && (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM)) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Altitude disparity"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Altitude disparity");
}
return false;
}
@ -778,7 +778,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// check vehicle is within fence
if(!fence.pre_arm_check()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: check fence"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: check fence");
}
return false;
}
@ -788,7 +788,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > aparm.angle_max) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Leaning"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Leaning");
}
return false;
}
@ -798,7 +798,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Check Battery"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Check Battery");
}
return false;
}
@ -810,9 +810,9 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if (g.failsafe_throttle != FS_THR_DISABLED && channel_throttle->radio_in < g.failsafe_throttle_value) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Collective below Failsafe"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Collective below Failsafe");
#else
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Throttle below Failsafe"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Throttle below Failsafe");
#endif
}
return false;
@ -824,9 +824,9 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if (channel_throttle->control_in > get_takeoff_trigger_throttle()) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Collective too high"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Collective too high");
#else
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Throttle too high"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high");
#endif
}
return false;
@ -835,9 +835,9 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if ((mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && channel_throttle->control_in > 0) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Collective too high"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Collective too high");
#else
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Throttle too high"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high");
#endif
}
return false;
@ -848,7 +848,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Safety Switch"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Arm: Safety Switch");
}
return false;
}
@ -866,7 +866,7 @@ void Copter::init_disarm_motors()
}
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("DISARMING MOTORS"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "DISARMING MOTORS");
#endif
// save compass offsets learned by the EKF
@ -936,7 +936,7 @@ void Copter::lost_vehicle_check()
if (soundalarm_counter >= LOST_VEHICLE_DELAY) {
if (AP_Notify::flags.vehicle_lost == false) {
AP_Notify::flags.vehicle_lost = true;
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Locate Copter Alarm!"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Locate Copter Alarm!");
}
} else {
soundalarm_counter++;

6
ArduCopter/sensors.cpp
View File

@ -4,13 +4,13 @@
void Copter::init_barometer(bool full_calibration)
{
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Calibrating barometer"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Calibrating barometer");
if (full_calibration) {
barometer.calibrate();
}else{
barometer.update_calibration();
}
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("barometer calibration complete"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "barometer calibration complete");
}
// return barometric altitude in centimeters
@ -87,7 +87,7 @@ void Copter::init_compass()
{
if (!compass.init() || !compass.read()) {
// make sure we don't pass a broken compass to DCM
cliSerial->println_P(PSTR("COMPASS INIT ERROR"));
cliSerial->println_P("COMPASS INIT ERROR");
Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
return;
}

134
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(PSTR("Setup Mode\n\n\n"));
cliSerial->printf_P("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(PSTR("\n'Y' = factory reset, any other key to abort:\n"));
cliSerial->printf_P("\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(PSTR("\nReboot board"));
cliSerial->printf_P("\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(PSTR("Invalid command. Usage: set <name> <value>\n"));
cliSerial->printf_P("Invalid command. Usage: set <name> <value>\n");
return 0;
}
param = AP_Param::find(argv[1].str, &p_type);
if(!param)
{
cliSerial->printf_P(PSTR("Param not found: %s\n"), argv[1].str);
cliSerial->printf_P("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(PSTR("Value out of range for type INT8\n"));
cliSerial->printf_P("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(PSTR("Value out of range for type INT16\n"));
cliSerial->printf_P("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(PSTR("Cannot set parameter of type %d.\n"), p_type);
cliSerial->printf_P("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(PSTR("Parameter not found: '%s'\n"), argv[1]);
cliSerial->printf_P("Parameter not found: '%s'\n", argv[1]);
return 0;
}
AP_Param::show(param, argv[1].str, type, cliSerial);
@ -177,8 +177,8 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
if (argc < 2) {
cliSerial->printf_P(PSTR("Pls provide Channel Mask\n"
"\tusage: esc_calib 1010 - enables calibration for 2nd and 4th Motor\n"));
cliSerial->printf_P("Pls provide Channel Mask\n"
"\tusage: esc_calib 1010 - enables calibration for 2nd and 4th Motor\n");
return(0);
}
@ -186,21 +186,21 @@ 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(PSTR("no channels chosen"));
//cliSerial->printf_P(PSTR("\n%d\n"),set_mask);
cliSerial->printf_P("no channels chosen");
//cliSerial->printf_P("\n%d\n",set_mask);
set_mask<<=1;
/* wait 50 ms */
hal.scheduler->delay(50);
cliSerial->printf_P(PSTR("\nATTENTION, please remove or fix propellers before starting calibration!\n"
cliSerial->printf_P("\nATTENTION, please remove or fix propellers before starting calibration!\n"
"\n"
"Make sure\n"
"\t - that the ESCs are not powered\n"
"\t - that safety is off\n"
"\t - that the controllers are stopped\n"
"\n"
"Do you want to start calibration now: y or n?\n"));
"Do you want to start calibration now: y or n?\n");
/* wait for user input */
while (1) {
@ -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(PSTR("ESC calibration exited\n"));
cliSerial->printf_P("ESC calibration exited\n");
return(0);
} else if (c == 'n' || c == 'N') {
cliSerial->printf_P(PSTR("ESC calibration aborted\n"));
cliSerial->printf_P("ESC calibration aborted\n");
return(0);
}
@ -231,14 +231,14 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
motors.armed(true);
cliSerial->printf_P(PSTR("Outputs armed\n"));
cliSerial->printf_P("Outputs armed\n");
/* wait for user confirmation */
cliSerial->printf_P(PSTR("\nHigh PWM set: %d\n"
cliSerial->printf_P("\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);
"\n", pwm_high);
while (1) {
/* set max PWM */
@ -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(PSTR("ESC calibration exited\n"));
cliSerial->printf_P("ESC calibration exited\n");
return(0);
}
@ -262,10 +262,10 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
hal.scheduler->delay(50);
}
cliSerial->printf_P(PSTR("Low PWM set: %d\n"
cliSerial->printf_P("Low PWM set: %d\n"
"\n"
"Hit c+Enter when finished\n"
"\n"), pwm_low);
"\n", pwm_low);
while (1) {
@ -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(PSTR("ESC calibration exited\n"));
cliSerial->printf_P("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(PSTR("Outputs disarmed\n"));
cliSerial->printf_P("Outputs disarmed\n");
cliSerial->printf_P(PSTR("ESC calibration finished\n"));
cliSerial->printf_P("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(PSTR("\nBatt Mon:\n"));
cliSerial->printf_P("\nBatt Mon:\n");
print_divider();
if (battery.num_instances() == 0) {
print_enabled(false);
} else if (!battery.has_current()) {
cliSerial->printf_P(PSTR("volts"));
cliSerial->printf_P("volts");
} else {
cliSerial->printf_P(PSTR("volts and cur"));
cliSerial->printf_P("volts and cur");
}
print_blanks(2);
}
void Copter::report_frame()
{
cliSerial->printf_P(PSTR("Frame\n"));
cliSerial->printf_P("Frame\n");
print_divider();
#if FRAME_CONFIG == QUAD_FRAME
cliSerial->printf_P(PSTR("Quad frame\n"));
cliSerial->printf_P("Quad frame\n");
#elif FRAME_CONFIG == TRI_FRAME
cliSerial->printf_P(PSTR("TRI frame\n"));
cliSerial->printf_P("TRI frame\n");
#elif FRAME_CONFIG == HEXA_FRAME
cliSerial->printf_P(PSTR("Hexa frame\n"));
cliSerial->printf_P("Hexa frame\n");
#elif FRAME_CONFIG == Y6_FRAME
cliSerial->printf_P(PSTR("Y6 frame\n"));
cliSerial->printf_P("Y6 frame\n");
#elif FRAME_CONFIG == OCTA_FRAME
cliSerial->printf_P(PSTR("Octa frame\n"));
cliSerial->printf_P("Octa frame\n");
#elif FRAME_CONFIG == HELI_FRAME
cliSerial->printf_P(PSTR("Heli frame\n"));
cliSerial->printf_P("Heli frame\n");
#endif
print_blanks(2);
@ -344,7 +344,7 @@ void Copter::report_frame()
void Copter::report_radio()
{
cliSerial->printf_P(PSTR("Radio\n"));
cliSerial->printf_P("Radio\n");
print_divider();
// radio
print_radio_values();
@ -353,7 +353,7 @@ void Copter::report_radio()
void Copter::report_ins()
{
cliSerial->printf_P(PSTR("INS\n"));
cliSerial->printf_P("INS\n");
print_divider();
print_gyro_offsets();
@ -363,7 +363,7 @@ void Copter::report_ins()
void Copter::report_flight_modes()
{
cliSerial->printf_P(PSTR("Flight modes\n"));
cliSerial->printf_P("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(PSTR("OptFlow\n"));
cliSerial->printf_P("OptFlow\n");
print_divider();
print_enabled(optflow.enabled());
@ -390,32 +390,32 @@ void Copter::report_optflow()
void Copter::print_radio_values()
{
cliSerial->printf_P(PSTR("CH1: %d | %d\n"), (int)channel_roll->radio_min, (int)channel_roll->radio_max);
cliSerial->printf_P(PSTR("CH2: %d | %d\n"), (int)channel_pitch->radio_min, (int)channel_pitch->radio_max);
cliSerial->printf_P(PSTR("CH3: %d | %d\n"), (int)channel_throttle->radio_min, (int)channel_throttle->radio_max);
cliSerial->printf_P(PSTR("CH4: %d | %d\n"), (int)channel_yaw->radio_min, (int)channel_yaw->radio_max);
cliSerial->printf_P(PSTR("CH5: %d | %d\n"), (int)g.rc_5.radio_min, (int)g.rc_5.radio_max);
cliSerial->printf_P(PSTR("CH6: %d | %d\n"), (int)g.rc_6.radio_min, (int)g.rc_6.radio_max);
cliSerial->printf_P(PSTR("CH7: %d | %d\n"), (int)g.rc_7.radio_min, (int)g.rc_7.radio_max);
cliSerial->printf_P(PSTR("CH8: %d | %d\n"), (int)g.rc_8.radio_min, (int)g.rc_8.radio_max);
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);
}
void Copter::print_switch(uint8_t p, uint8_t m, bool b)
{
cliSerial->printf_P(PSTR("Pos %d:\t"),p);
cliSerial->printf_P("Pos %d:\t",p);
print_flight_mode(cliSerial, m);
cliSerial->printf_P(PSTR(",\t\tSimple: "));
cliSerial->printf_P(",\t\tSimple: ");
if(b)
cliSerial->printf_P(PSTR("ON\n"));
cliSerial->printf_P("ON\n");
else
cliSerial->printf_P(PSTR("OFF\n"));
cliSerial->printf_P("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(PSTR("A_off: %4.2f, %4.2f, %4.2f\nA_scale: %4.2f, %4.2f, %4.2f\n"),
cliSerial->printf_P("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(PSTR("G_off: %4.2f, %4.2f, %4.2f\n"),
cliSerial->printf_P("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(PSTR("Compass\n"));
cliSerial->printf_P("Compass\n");
print_divider();
print_enabled(g.compass_enabled);
// mag declination
cliSerial->printf_P(PSTR("Mag Dec: %4.4f\n"),
cliSerial->printf_P("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(PSTR("Mag%d off: %4.4f, %4.4f, %4.4f\n"),
cliSerial->printf_P("Mag%d off: %4.4f, %4.4f, %4.4f\n",
(int)i,
(double)offsets.x,
(double)offsets.y,
@ -460,20 +460,20 @@ void Copter::report_compass()
}
// motor compensation
cliSerial->print_P(PSTR("Motor Comp: "));
cliSerial->print_P("Motor Comp: ");
if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_DISABLED ) {
cliSerial->print_P(PSTR("Off\n"));
cliSerial->print_P("Off\n");
}else{
if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_THROTTLE ) {
cliSerial->print_P(PSTR("Throttle"));
cliSerial->print_P("Throttle");
}
if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_CURRENT ) {
cliSerial->print_P(PSTR("Current"));
cliSerial->print_P("Current");
}
Vector3f motor_compensation;
for (uint8_t i=0; i<compass.get_count(); i++) {
motor_compensation = compass.get_motor_compensation(i);
cliSerial->printf_P(PSTR("\nComMot%d: %4.2f, %4.2f, %4.2f\n"),
cliSerial->printf_P("\nComMot%d: %4.2f, %4.2f, %4.2f\n",
(int)i,
(double)motor_compensation.x,
(double)motor_compensation.y,
@ -494,7 +494,7 @@ void Copter::print_blanks(int16_t num)
void Copter::print_divider(void)
{
for (int i = 0; i < 40; i++) {
cliSerial->print_P(PSTR("-"));
cliSerial->print_P("-");
}
cliSerial->println();
}
@ -502,15 +502,15 @@ void Copter::print_divider(void)
void Copter::print_enabled(bool b)
{
if(b)
cliSerial->print_P(PSTR("en"));
cliSerial->print_P("en");
else
cliSerial->print_P(PSTR("dis"));
cliSerial->print_P(PSTR("abled\n"));
cliSerial->print_P("dis");
cliSerial->print_P("abled\n");
}
void Copter::report_version()
{
cliSerial->printf_P(PSTR("FW Ver: %d\n"),(int)g.k_format_version);
cliSerial->printf_P("FW Ver: %d\n",(int)g.k_format_version);
print_divider();
print_blanks(2);
}

2
ArduCopter/switches.cpp
View File

@ -597,7 +597,7 @@ void Copter::save_trim()
float pitch_trim = ToRad((float)channel_pitch->control_in/100.0f);
ahrs.add_trim(roll_trim, pitch_trim);
Log_Write_Event(DATA_SAVE_TRIM);
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Trim saved"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Trim saved");
}
// auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions

14
ArduCopter/system.cpp
View File

@ -14,12 +14,12 @@
// This is the help function
int8_t Copter::main_menu_help(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf_P(PSTR("Commands:\n"
cliSerial->printf_P("Commands:\n"
" logs\n"
" setup\n"
" test\n"
" reboot\n"
"\n"));
"\n");
return(0);
}
@ -94,8 +94,8 @@ void Copter::init_ardupilot()
// initialise serial port
serial_manager.init_console();
cliSerial->printf_P(PSTR("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n"),
cliSerial->printf_P("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
hal.util->available_memory());
//
@ -219,7 +219,7 @@ void Copter::init_ardupilot()
#if CLI_ENABLED == ENABLED
if (g.cli_enabled) {
const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
const prog_char_t *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println_P(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println_P(msg);
@ -234,7 +234,7 @@ void Copter::init_ardupilot()
while (barometer.get_last_update() == 0) {
// the barometer begins updating when we get the first
// HIL_STATE message
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Waiting for first HIL_STATE message"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message");
delay(1000);
}
@ -282,7 +282,7 @@ void Copter::init_ardupilot()
// init vehicle capabilties
init_capabilities();
cliSerial->print_P(PSTR("\nReady to FLY "));
cliSerial->print_P("\nReady to FLY ");
// flag that initialisation has completed
ap.initialised = true;

38
ArduCopter/test.cpp
View File

@ -44,9 +44,9 @@ int8_t Copter::test_baro(uint8_t argc, const Menu::arg *argv)
read_barometer();
if (!barometer.healthy()) {
cliSerial->println_P(PSTR("not healthy"));
cliSerial->println_P("not healthy");
} else {
cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),
cliSerial->printf_P("Alt: %0.2fm, Raw: %f Temperature: %.1f\n",
(double)(baro_alt / 100.0f),
(double)barometer.get_pressure(),
(double)barometer.get_temperature());
@ -65,13 +65,13 @@ int8_t Copter::test_compass(uint8_t argc, const Menu::arg *argv)
uint8_t medium_loopCounter = 0;
if (!g.compass_enabled) {
cliSerial->printf_P(PSTR("Compass: "));
cliSerial->printf_P("Compass: ");
print_enabled(false);
return (0);
}
if (!compass.init()) {
cliSerial->println_P(PSTR("Compass initialisation failed!"));
cliSerial->println_P("Compass initialisation failed!");
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(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
cliSerial->printf_P("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,
@ -127,7 +127,7 @@ int8_t Copter::test_compass(uint8_t argc, const Menu::arg *argv)
(double)mag_ofs.y,
(double)mag_ofs.z);
} else {
cliSerial->println_P(PSTR("compass not healthy"));
cliSerial->println_P("compass not healthy");
}
counter=0;
}
@ -139,7 +139,7 @@ int8_t Copter::test_compass(uint8_t argc, const Menu::arg *argv)
// save offsets. This allows you to get sane offset values using
// the CLI before you go flying.
cliSerial->println_P(PSTR("saving offsets"));
cliSerial->println_P("saving offsets");
compass.save_offsets();
return (0);
}
@ -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(PSTR("INS\n"));
cliSerial->printf_P("INS\n");
delay(1000);
ahrs.init();
ins.init(ins_sample_rate);
cliSerial->printf_P(PSTR("...done\n"));
cliSerial->printf_P("...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(PSTR("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %7.4f \n"),
cliSerial->printf_P("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(PSTR("dev id: %d\t"),(int)optflow.device_id());
cliSerial->printf_P("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(PSTR("flowX : %7.4f\t flowY : %7.4f\t flow qual : %d\n"),
cliSerial->printf_P("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(PSTR("OptFlow: "));
cliSerial->printf_P("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(PSTR("Relay on\n"));
cliSerial->printf_P("Relay on\n");
relay.on(0);
delay(3000);
if(cliSerial->available() > 0) {
return (0);
}
cliSerial->printf_P(PSTR("Relay off\n"));
cliSerial->printf_P("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(PSTR("RangeFinder: %d devices detected\n"), sonar.num_sensors());
cliSerial->printf_P("RangeFinder: %d devices detected\n", sonar.num_sensors());
print_hit_enter();
while(1) {
delay(100);
sonar.update();
cliSerial->printf_P(PSTR("Primary: status %d distance_cm %d \n"), (int)sonar.status(), sonar.distance_cm());
cliSerial->printf_P(PSTR("All: device_0 type %d status %d distance_cm %d, device_1 type %d status %d distance_cm %d\n"),
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",
(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(PSTR("Hit Enter to exit.\n\n"));
cliSerial->printf_P("Hit Enter to exit.\n\n");
}
#endif // CLI_ENABLED

14
ArduPlane/ArduPlane.cpp
View File

@ -338,7 +338,7 @@ void Plane::one_second_loop()
void Plane::log_perf_info()
{
if (scheduler.debug() != 0) {
gcs_send_text_fmt(PSTR("G_Dt_max=%lu G_Dt_min=%lu\n"),
gcs_send_text_fmt("G_Dt_max=%lu G_Dt_min=%lu\n",
(unsigned long)G_Dt_max,
(unsigned long)G_Dt_min);
}
@ -635,7 +635,7 @@ void Plane::update_flight_mode(void)
if (tdrag_mode && !auto_state.fbwa_tdrag_takeoff_mode) {
if (auto_state.highest_airspeed < g.takeoff_tdrag_speed1) {
auto_state.fbwa_tdrag_takeoff_mode = true;
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("FBWA tdrag mode\n"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "FBWA tdrag mode\n");
}
}
}
@ -781,22 +781,22 @@ void Plane::set_flight_stage(AP_SpdHgtControl::FlightStage fs)
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable == 1) {
if (! geofence_set_enabled(false, AUTO_TOGGLED)) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Disable fence failed (autodisable)"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Disable fence failed (autodisable)");
} else {
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Fence disabled (autodisable)"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Fence disabled (autodisable)");
}
} else if (g.fence_autoenable == 2) {
if (! geofence_set_floor_enabled(false)) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Disable fence floor failed (autodisable)"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Disable fence floor failed (autodisable)");
} else {
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Fence floor disabled (auto disable)"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Fence floor disabled (auto disable)");
}
}
#endif
break;
case AP_SpdHgtControl::FLIGHT_LAND_ABORT:
gcs_send_text_fmt(PSTR("Landing aborted via throttle, climbing to %dm"), auto_state.takeoff_altitude_rel_cm/100);
gcs_send_text_fmt("Landing aborted via throttle, climbing to %dm", auto_state.takeoff_altitude_rel_cm/100);
break;
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:

6
ArduPlane/Attitude.cpp
View File

@ -609,7 +609,7 @@ bool Plane::suppress_throttle(void)
if (relative_altitude_abs_cm() >= 1000) {
// we're more than 10m from the home altitude
throttle_suppressed = false;
gcs_send_text_fmt(PSTR("Throttle enabled - altitude %.2f"),
gcs_send_text_fmt("Throttle enabled - altitude %.2f",
(double)(relative_altitude_abs_cm()*0.01f));
return false;
}
@ -620,7 +620,7 @@ bool Plane::suppress_throttle(void)
// groundspeed with bad GPS reception
if ((!ahrs.airspeed_sensor_enabled()) || airspeed.get_airspeed() >= 5) {
// we're moving at more than 5 m/s
gcs_send_text_fmt(PSTR("Throttle enabled - speed %.2f airspeed %.2f"),
gcs_send_text_fmt("Throttle enabled - speed %.2f airspeed %.2f",
(double)gps.ground_speed(),
(double)airspeed.get_airspeed());
throttle_suppressed = false;
@ -1061,7 +1061,7 @@ void Plane::set_servos(void)
void Plane::demo_servos(uint8_t i)
{
while(i > 0) {
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("Demo Servos!"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"Demo Servos!");
demoing_servos = true;
servo_write(1, 1400);
hal.scheduler->delay(400);

40
ArduPlane/GCS_Mavlink.cpp
View File

@ -1135,7 +1135,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
uint8_t result = MAV_RESULT_UNSUPPORTED;
// do command
send_text_P(MAV_SEVERITY_WARNING,PSTR("command received: "));
send_text_P(MAV_SEVERITY_WARNING,"command received: ");
switch(packet.command) {
@ -1267,7 +1267,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
}
else {
send_text_P(MAV_SEVERITY_WARNING, PSTR("Unsupported preflight calibration"));
send_text_P(MAV_SEVERITY_WARNING, "Unsupported preflight calibration");
}
plane.in_calibration = false;
break;
@ -1386,9 +1386,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
plane.auto_state.commanded_go_around = true;
result = MAV_RESULT_ACCEPTED;
plane.gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Go around command accepted."));
plane.gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Go around command accepted.");
} else {
plane.gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Rejected go around command."));
plane.gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Rejected go around command.");
}
break;
@ -1412,7 +1412,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (! plane.geofence_set_floor_enabled(false)) {
result = MAV_RESULT_FAILED;
} else {
plane.gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Fence floor disabled."));
plane.gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Fence floor disabled.");
}
break;
default:
@ -1454,7 +1454,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
plane.Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(new_home_loc);
result = MAV_RESULT_ACCEPTED;
plane.gcs_send_text_fmt(PSTR("set home to %.6f %.6f at %um"),
plane.gcs_send_text_fmt("set home to %.6f %.6f at %um",
(double)(new_home_loc.lat*1.0e-7f),
(double)(new_home_loc.lng*1.0e-7f),
(uint32_t)(new_home_loc.alt*0.01f));
@ -1487,10 +1487,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case PARACHUTE_RELEASE:
// treat as a manual release which performs some additional check of altitude
if (plane.parachute.released()) {
plane.gcs_send_text_fmt(PSTR("Parachute already released"));
plane.gcs_send_text_fmt("Parachute already released");
result = MAV_RESULT_FAILED;
} else if (!plane.parachute.enabled()) {
plane.gcs_send_text_fmt(PSTR("Parachute not enabled"));
plane.gcs_send_text_fmt("Parachute not enabled");
result = MAV_RESULT_FAILED;
} else {
if (!plane.parachute_manual_release()) {
@ -1550,10 +1550,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// mark the firmware version in the tlog
send_text_P(MAV_SEVERITY_WARNING, PSTR(FIRMWARE_STRING));
send_text_P(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text_P(MAV_SEVERITY_WARNING, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
send_text_P(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif
handle_param_request_list(msg);
break;
@ -1612,11 +1612,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_fence_point_t packet;
mavlink_msg_fence_point_decode(msg, &packet);
if (plane.g.fence_action != FENCE_ACTION_NONE) {
send_text_P(MAV_SEVERITY_WARNING,PSTR("fencing must be disabled"));
send_text_P(MAV_SEVERITY_WARNING,"fencing must be disabled");
} else if (packet.count != plane.g.fence_total) {
send_text_P(MAV_SEVERITY_WARNING,PSTR("bad fence point"));
send_text_P(MAV_SEVERITY_WARNING,"bad fence point");
} else if (fabsf(packet.lat) > 90.0f || fabsf(packet.lng) > 180.0f) {
send_text_P(MAV_SEVERITY_WARNING,PSTR("invalid fence point, lat or lng too large"));
send_text_P(MAV_SEVERITY_WARNING,"invalid fence point, lat or lng too large");
} else {
Vector2l point;
point.x = packet.lat*1.0e7f;
@ -1631,7 +1631,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_fence_fetch_point_t packet;
mavlink_msg_fence_fetch_point_decode(msg, &packet);
if (packet.idx >= plane.g.fence_total) {
send_text_P(MAV_SEVERITY_WARNING,PSTR("bad fence point"));
send_text_P(MAV_SEVERITY_WARNING,"bad fence point");
} else {
Vector2l point = plane.get_fence_point_with_index(packet.idx);
mavlink_msg_fence_point_send_buf(msg, chan, msg->sysid, msg->compid, packet.idx, plane.g.fence_total,
@ -1648,12 +1648,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (packet.idx >= plane.rally.get_rally_total() ||
packet.idx >= plane.rally.get_rally_max()) {
send_text_P(MAV_SEVERITY_WARNING,PSTR("bad rally point message ID"));
send_text_P(MAV_SEVERITY_WARNING,"bad rally point message ID");
break;
}
if (packet.count != plane.rally.get_rally_total()) {
send_text_P(MAV_SEVERITY_WARNING,PSTR("bad rally point message count"));
send_text_P(MAV_SEVERITY_WARNING,"bad rally point message count");
break;
}
@ -1673,12 +1673,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_rally_fetch_point_t packet;
mavlink_msg_rally_fetch_point_decode(msg, &packet);
if (packet.idx > plane.rally.get_rally_total()) {
send_text_P(MAV_SEVERITY_WARNING, PSTR("bad rally point index"));
send_text_P(MAV_SEVERITY_WARNING, "bad rally point index");
break;
}
RallyLocation rally_point;
if (!plane.rally.get_rally_point_with_index(packet.idx, rally_point)) {
send_text_P(MAV_SEVERITY_WARNING, PSTR("failed to set rally point"));
send_text_P(MAV_SEVERITY_WARNING, "failed to set rally point");
break;
}
@ -1896,7 +1896,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
plane.home_is_set = HOME_SET_NOT_LOCKED;
plane.Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(new_home_loc);
plane.gcs_send_text_fmt(PSTR("set home to %.6f %.6f at %um"),
plane.gcs_send_text_fmt("set home to %.6f %.6f at %um",
(double)(new_home_loc.lat*1.0e-7f),
(double)(new_home_loc.lng*1.0e-7f),
(uint32_t)(new_home_loc.alt*0.01f));
@ -1932,7 +1932,7 @@ void Plane::mavlink_delay_cb()
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Initialising APM..."));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Initialising APM...");
}
check_usb_mux();

34
ArduPlane/Log.cpp
View File

@ -24,16 +24,16 @@ MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&plane, &Plane::print_log
bool Plane::print_log_menu(void)
{
cliSerial->println_P(PSTR("logs enabled: "));
cliSerial->println_P("logs enabled: ");
if (0 == g.log_bitmask) {
cliSerial->println_P(PSTR("none"));
cliSerial->println_P("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(PSTR(" %S"), PSTR(# _s))
#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf_P(" %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(PSTR("dumping all\n"));
cliSerial->printf_P("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(PSTR("bad log number\n"));
cliSerial->printf_P("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(PSTR("missing log type\n"));
cliSerial->printf_P("missing log type\n");
return(-1);
}
@ -109,10 +109,10 @@ int8_t Plane::select_logs(uint8_t argc, const Menu::arg *argv)
// that name as the argument to the command, and set the bit in
// bits accordingly.
//
if (!strcasecmp_P(argv[1].str, PSTR("all"))) {
if (!strcasecmp_P(argv[1].str, "all")) {
bits = 0xFFFFFFFFUL;
} else {
#define TARG(_s) if (!strcasecmp_P(argv[1].str, PSTR(# _s))) bits |= MASK_LOG_ ## _s
#define TARG(_s) if (!strcasecmp_P(argv[1].str, # _s)) bits |= MASK_LOG_ ## _s
TARG(ATTITUDE_FAST);
TARG(ATTITUDE_MED);
TARG(GPS);
@ -131,7 +131,7 @@ int8_t Plane::select_logs(uint8_t argc, const Menu::arg *argv)
#undef TARG
}
if (!strcasecmp_P(argv[0].str, PSTR("enable"))) {
if (!strcasecmp_P(argv[0].str, "enable")) {
g.log_bitmask.set_and_save(g.log_bitmask | bits);
}else{
g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
@ -149,9 +149,9 @@ int8_t Plane::process_logs(uint8_t argc, const Menu::arg *argv)
void Plane::do_erase_logs(void)
{
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Erasing logs"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Erasing logs");
DataFlash.EraseAll();
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Log erase complete"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Log erase complete");
}
@ -504,11 +504,11 @@ static const struct LogStructure log_structure[] PROGMEM = {
// 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(PSTR("\n" FIRMWARE_STRING
"\nFree RAM: %u\n"),
cliSerial->printf_P("\n" FIRMWARE_STRING
"\nFree RAM: %u\n",
(unsigned)hal.util->available_memory());
cliSerial->println_P(PSTR(HAL_BOARD_NAME));
cliSerial->println_P(HAL_BOARD_NAME);
DataFlash.LogReadProcess(list_entry, start_page, end_page,
FUNCTOR_BIND_MEMBER(&Plane::print_flight_mode, void, AP_HAL::BetterStream *, uint8_t),
@ -541,12 +541,12 @@ void Plane::log_init(void)
{
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
if (!DataFlash.CardInserted()) {
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("No dataflash card inserted"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "No dataflash card inserted");
g.log_bitmask.set(0);
} else if (DataFlash.NeedPrep()) {
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Preparing log system"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Preparing log system");
DataFlash.Prep();
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Prepared log system"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Prepared log system");
for (uint8_t i=0; i<num_gcs; i++) {
gcs[i].reset_cli_timeout();
}

10
ArduPlane/Parameters.cpp
View File

@ -1259,24 +1259,24 @@ const AP_Param::ConversionInfo conversion_table[] PROGMEM = {
void Plane::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
cliSerial->printf_P(PSTR("Bad parameter table\n"));
hal.scheduler->panic(PSTR("Bad parameter table"));
cliSerial->printf_P("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(PSTR("Firmware change: erasing EEPROM...\n"));
cliSerial->printf_P("Firmware change: erasing EEPROM...\n");
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
cliSerial->println_P(PSTR("done."));
cliSerial->println_P("done.");
} else {
uint32_t before = micros();
// 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(PSTR("load_all took %luus\n"), micros() - before);
cliSerial->printf_P("load_all took %luus\n", micros() - before);
}
}

4
ArduPlane/altitude.cpp
View File

@ -578,7 +578,7 @@ void Plane::rangefinder_height_update(void)
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH &&
g.rangefinder_landing) {
rangefinder_state.in_use = true;
gcs_send_text_fmt(PSTR("Rangefinder engaged at %.2fm"), height_estimate);
gcs_send_text_fmt("Rangefinder engaged at %.2fm", height_estimate);
}
}
} else {
@ -610,7 +610,7 @@ void Plane::rangefinder_height_update(void)
if (fabsf(rangefinder_state.correction - rangefinder_state.initial_correction) > 30) {
// the correction has changed by more than 30m, reset use of Lidar. We may have a bad lidar
if (rangefinder_state.in_use) {
gcs_send_text_fmt(PSTR("Rangefinder disengaged at %.2fm"), height_estimate);
gcs_send_text_fmt("Rangefinder disengaged at %.2fm", height_estimate);
}
memset(&rangefinder_state, 0, sizeof(rangefinder_state));
}

12
ArduPlane/arming_checks.cpp
View File

@ -32,21 +32,21 @@ bool AP_Arming_Plane::pre_arm_checks(bool report)
if (plane.g.roll_limit_cd < 300) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: LIM_ROLL_CD too small (%u)"), plane.g.roll_limit_cd);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: LIM_ROLL_CD too small (%u)", plane.g.roll_limit_cd);
}
ret = false;
}
if (plane.aparm.pitch_limit_max_cd < 300) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: LIM_PITCH_MAX too small (%u)"), plane.aparm.pitch_limit_max_cd);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MAX too small (%u)", plane.aparm.pitch_limit_max_cd);
}
ret = false;
}
if (plane.aparm.pitch_limit_min_cd > -300) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: LIM_PITCH_MIN too large (%u)"), plane.aparm.pitch_limit_min_cd);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MIN too large (%u)", plane.aparm.pitch_limit_min_cd);
}
ret = false;
}
@ -56,7 +56,7 @@ bool AP_Arming_Plane::pre_arm_checks(bool report)
plane.g.throttle_fs_value <
plane.channel_throttle->radio_max) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: invalid THR_FS_VALUE for rev throttle"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: invalid THR_FS_VALUE for rev throttle");
}
ret = false;
}
@ -78,9 +78,9 @@ bool AP_Arming_Plane::ins_checks(bool report)
if (report) {
const char *reason = ahrs.prearm_failure_reason();
if (reason) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: %s"), reason);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
} else {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: AHRS not healthy"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: AHRS not healthy");
}
}
return false;

6
ArduPlane/commands.cpp
View File

@ -52,7 +52,7 @@ void Plane::set_next_WP(const struct Location &loc)
// location as the previous waypoint, to prevent immediately
// considering the waypoint complete
if (location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Resetting prev_WP"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Resetting prev_WP");
prev_WP_loc = current_loc;
}
@ -100,14 +100,14 @@ void Plane::set_guided_WP(void)
// -------------------------------
void Plane::init_home()
{
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("init home"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "init home");
ahrs.set_home(gps.location());
home_is_set = HOME_SET_NOT_LOCKED;
Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(gps.location());
gcs_send_text_fmt(PSTR("gps alt: %lu"), (unsigned long)home.alt);
gcs_send_text_fmt("gps alt: %lu", (unsigned long)home.alt);
// Save Home to EEPROM
mission.write_home_to_storage();

48
ArduPlane/commands_logic.cpp
View File

@ -31,9 +31,9 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
// once landed, post some landing statistics to the GCS
auto_state.post_landing_stats = false;
gcs_send_text_fmt(PSTR("Executing nav command ID #%i"),cmd.id);
gcs_send_text_fmt("Executing nav command ID #%i",cmd.id);
} else {
gcs_send_text_fmt(PSTR("Executing command ID #%i"),cmd.id);
gcs_send_text_fmt("Executing command ID #%i",cmd.id);
}
switch(cmd.id) {
@ -124,7 +124,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_DO_INVERTED_FLIGHT:
if (cmd.p1 == 0 || cmd.p1 == 1) {
auto_state.inverted_flight = (bool)cmd.p1;
gcs_send_text_fmt(PSTR("Set inverted %u"), cmd.p1);
gcs_send_text_fmt("Set inverted %u", cmd.p1);
}
break;
@ -137,15 +137,15 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
#if GEOFENCE_ENABLED == ENABLED
if (cmd.p1 != 2) {
if (!geofence_set_enabled((bool) cmd.p1, AUTO_TOGGLED)) {
gcs_send_text_fmt(PSTR("Unable to set fence enabled state to %u"), cmd.p1);
gcs_send_text_fmt("Unable to set fence enabled state to %u", cmd.p1);
} else {
gcs_send_text_fmt(PSTR("Set fence enabled state to %u"), cmd.p1);
gcs_send_text_fmt("Set fence enabled state to %u", cmd.p1);
}
} else { //commanding to only disable floor
if (! geofence_set_floor_enabled(false)) {
gcs_send_text_fmt(PSTR("Unabled to disable fence floor.\n"));
gcs_send_text_fmt("Unabled to disable fence floor.\n");
} else {
gcs_send_text_fmt(PSTR("Fence floor disabled.\n"));
gcs_send_text_fmt("Fence floor disabled.\n");
}
}
#endif
@ -291,9 +291,9 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
default:
// error message
if (AP_Mission::is_nav_cmd(cmd)) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("verify_nav: Invalid or no current Nav cmd"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"verify_nav: Invalid or no current Nav cmd");
}else{
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("verify_conditon: Invalid or no current Condition cmd"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"verify_conditon: Invalid or no current Condition cmd");
}
// return true so that we do not get stuck at this command
return true;
@ -492,7 +492,7 @@ bool Plane::verify_takeoff()
float takeoff_course = wrap_PI(radians(gps.ground_course_cd()*0.01f)) - steer_state.locked_course_err;
takeoff_course = wrap_PI(takeoff_course);
steer_state.hold_course_cd = wrap_360_cd(degrees(takeoff_course)*100);
gcs_send_text_fmt(PSTR("Holding course %ld at %.1fm/s (%.1f)"),
gcs_send_text_fmt("Holding course %ld at %.1fm/s (%.1f)",
steer_state.hold_course_cd,
(double)gps.ground_speed(),
(double)degrees(steer_state.locked_course_err));
@ -509,7 +509,7 @@ bool Plane::verify_takeoff()
// see if we have reached takeoff altitude
int32_t relative_alt_cm = adjusted_relative_altitude_cm();
if (relative_alt_cm > auto_state.takeoff_altitude_rel_cm) {
gcs_send_text_fmt(PSTR("Takeoff complete at %.2fm"),
gcs_send_text_fmt("Takeoff complete at %.2fm",
(double)(relative_alt_cm*0.01f));
steer_state.hold_course_cd = -1;
auto_state.takeoff_complete = true;
@ -518,9 +518,9 @@ bool Plane::verify_takeoff()
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable > 0) {
if (! geofence_set_enabled(true, AUTO_TOGGLED)) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Enable fence failed (cannot autoenable"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Enable fence failed (cannot autoenable");
} else {
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Fence enabled. (autoenabled)"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Fence enabled. (autoenabled)");
}
}
#endif
@ -565,7 +565,7 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
}
if (auto_state.wp_distance <= acceptance_distance) {
gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"),
gcs_send_text_fmt("Reached Waypoint #%i dist %um",
(unsigned)mission.get_current_nav_cmd().index,
(unsigned)get_distance(current_loc, next_WP_loc));
return true;
@ -573,7 +573,7 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// have we flown past the waypoint?
if (location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"),
gcs_send_text_fmt("Passed Waypoint #%i dist %um",
(unsigned)mission.get_current_nav_cmd().index,
(unsigned)get_distance(current_loc, next_WP_loc));
return true;
@ -597,7 +597,7 @@ bool Plane::verify_loiter_time()
loiter.start_time_ms = millis();
}
} else if ((millis() - loiter.start_time_ms) > loiter.time_max_ms) {
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("verify_nav: LOITER time complete"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"verify_nav: LOITER time complete");
return true;
}
return false;
@ -608,7 +608,7 @@ bool Plane::verify_loiter_turns()
update_loiter();
if (loiter.sum_cd > loiter.total_cd) {
loiter.total_cd = 0;
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("verify_nav: LOITER orbits complete"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"verify_nav: LOITER orbits complete");
// clear the command queue;
return true;
}
@ -692,7 +692,7 @@ bool Plane::verify_RTL()
update_loiter();
if (auto_state.wp_distance <= (uint32_t)max(g.waypoint_radius,0) ||
nav_controller->reached_loiter_target()) {
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("Reached home"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"Reached home");
return true;
} else {
return false;
@ -742,11 +742,11 @@ bool Plane::verify_continue_and_change_alt()
bool Plane::verify_altitude_wait(const AP_Mission::Mission_Command &cmd)
{
if (current_loc.alt > cmd.content.altitude_wait.altitude*100.0f) {
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("Reached altitude"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"Reached altitude");
return true;
}
if (auto_state.sink_rate > cmd.content.altitude_wait.descent_rate) {
gcs_send_text_fmt(PSTR("Reached descent rate %.1f m/s"), (double)auto_state.sink_rate);
gcs_send_text_fmt("Reached descent rate %.1f m/s", (double)auto_state.sink_rate);
return true;
}
@ -852,17 +852,17 @@ void Plane::do_change_speed(const AP_Mission::Mission_Command& cmd)
case 0: // Airspeed
if (cmd.content.speed.target_ms > 0) {
g.airspeed_cruise_cm.set(cmd.content.speed.target_ms * 100);
gcs_send_text_fmt(PSTR("Set airspeed %u m/s"), (unsigned)cmd.content.speed.target_ms);
gcs_send_text_fmt("Set airspeed %u m/s", (unsigned)cmd.content.speed.target_ms);
}
break;
case 1: // Ground speed
gcs_send_text_fmt(PSTR("Set groundspeed %u"), (unsigned)cmd.content.speed.target_ms);
gcs_send_text_fmt("Set groundspeed %u", (unsigned)cmd.content.speed.target_ms);
g.min_gndspeed_cm.set(cmd.content.speed.target_ms * 100);
break;
}
if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
gcs_send_text_fmt(PSTR("Set throttle %u"), (unsigned)cmd.content.speed.throttle_pct);
gcs_send_text_fmt("Set throttle %u", (unsigned)cmd.content.speed.throttle_pct);
aparm.throttle_cruise.set(cmd.content.speed.throttle_pct);
}
}
@ -980,7 +980,7 @@ bool Plane::verify_command_callback(const AP_Mission::Mission_Command& cmd)
void Plane::exit_mission_callback()
{
if (control_mode == AUTO) {
gcs_send_text_fmt(PSTR("Returning to Home"));
gcs_send_text_fmt("Returning to Home");
memset(&auto_rtl_command, 0, sizeof(auto_rtl_command));
auto_rtl_command.content.location =
rally.calc_best_rally_or_home_location(current_loc, get_RTL_altitude());

6
ArduPlane/control_modes.cpp
View File

@ -77,17 +77,17 @@ void Plane::read_control_switch()
if (hal.util->get_soft_armed() || setup_failsafe_mixing()) {
px4io_override_enabled = true;
// disable output channels to force PX4IO override
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("PX4IO Override enabled"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "PX4IO Override enabled");
} else {
// we'll try again next loop. The PX4IO code sometimes
// rejects a mixer, probably due to it being busy in
// some way?
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("PX4IO Override enable failed"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "PX4IO Override enable failed");
}
} else if (!override && px4io_override_enabled) {
px4io_override_enabled = false;
RC_Channel_aux::enable_aux_servos();
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("PX4IO Override disabled"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "PX4IO Override disabled");
}
if (px4io_override_enabled &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_ARMED) {

14
ArduPlane/events.cpp
View File

@ -7,7 +7,7 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype)
// This is how to handle a short loss of control signal failsafe.
failsafe.state = fstype;
failsafe.ch3_timer_ms = millis();
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Failsafe - Short event on, "));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Failsafe - Short event on, ");
switch(control_mode)
{
case MANUAL:
@ -46,13 +46,13 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype)
default:
break;
}
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
gcs_send_text_fmt("flight mode = %u", (unsigned)control_mode);
}
void Plane::failsafe_long_on_event(enum failsafe_state fstype)
{
// This is how to handle a long loss of control signal failsafe.
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Failsafe - Long event on, "));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Failsafe - Long event on, ");
// If the GCS is locked up we allow control to revert to RC
hal.rcin->clear_overrides();
failsafe.state = fstype;
@ -89,15 +89,15 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype)
break;
}
if (fstype == FAILSAFE_GCS) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("No GCS heartbeat."));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "No GCS heartbeat.");
}
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
gcs_send_text_fmt("flight mode = %u", (unsigned)control_mode);
}
void Plane::failsafe_short_off_event()
{
// We're back in radio contact
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Failsafe - Short event off"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Failsafe - Short event off");
failsafe.state = FAILSAFE_NONE;
// re-read the switch so we can return to our preferred mode
@ -113,7 +113,7 @@ void Plane::low_battery_event(void)
if (failsafe.low_battery) {
return;
}
gcs_send_text_fmt(PSTR("Low Battery %.2fV Used %.0f mAh"),
gcs_send_text_fmt("Low Battery %.2fV Used %.0f mAh",
(double)battery.voltage(), (double)battery.current_total_mah());
if (flight_stage != AP_SpdHgtControl::FLIGHT_LAND_FINAL &&
flight_stage != AP_SpdHgtControl::FLIGHT_LAND_APPROACH) {

8
ArduPlane/geofence.cpp
View File

@ -137,13 +137,13 @@ void Plane::geofence_load(void)
geofence_state->boundary_uptodate = true;
geofence_state->fence_triggered = false;
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("geo-fence loaded"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"geo-fence loaded");
gcs_send_message(MSG_FENCE_STATUS);
return;
failed:
g.fence_action.set(FENCE_ACTION_NONE);
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("geo-fence setup error"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"geo-fence setup error");
}
/*
@ -335,7 +335,7 @@ void Plane::geofence_check(bool altitude_check_only)
if (geofence_state->fence_triggered && !altitude_check_only) {
// we have moved back inside the fence
geofence_state->fence_triggered = false;
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("geo-fence OK"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"geo-fence OK");
#if FENCE_TRIGGERED_PIN > 0
hal.gpio->pinMode(FENCE_TRIGGERED_PIN, HAL_GPIO_OUTPUT);
hal.gpio->write(FENCE_TRIGGERED_PIN, 0);
@ -365,7 +365,7 @@ void Plane::geofence_check(bool altitude_check_only)
hal.gpio->write(FENCE_TRIGGERED_PIN, 1);
#endif
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("geo-fence triggered"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"geo-fence triggered");
gcs_send_message(MSG_FENCE_STATUS);
// see what action the user wants

8
ArduPlane/is_flying.cpp
View File

@ -224,9 +224,9 @@ void Plane::crash_detection_update(void)
if (g.crash_detection_enable == CRASH_DETECT_ACTION_BITMASK_DISABLED) {
if (crashed_near_land_waypoint) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Hard Landing Detected - no action taken"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Hard Landing Detected - no action taken");
} else {
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Crash Detected - no action taken"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Crash Detected - no action taken");
}
}
else {
@ -235,9 +235,9 @@ void Plane::crash_detection_update(void)
}
auto_state.land_complete = true;
if (crashed_near_land_waypoint) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Hard Landing Detected"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Hard Landing Detected");
} else {
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Crash Detected"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Crash Detected");
}
}
}

20
ArduPlane/landing.cpp
View File

@ -74,9 +74,9 @@ bool Plane::verify_land()
if (!auto_state.land_complete) {
auto_state.post_landing_stats = true;
if (!is_flying() && (millis()-auto_state.last_flying_ms) > 3000) {
gcs_send_text_fmt(PSTR("Flare crash detected: speed=%.1f"), (double)gps.ground_speed());
gcs_send_text_fmt("Flare crash detected: speed=%.1f", (double)gps.ground_speed());
} else {
gcs_send_text_fmt(PSTR("Flare %.1fm sink=%.2f speed=%.1f dist=%.1f"),
gcs_send_text_fmt("Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
(double)height, (double)auto_state.sink_rate,
(double)gps.ground_speed(),
(double)get_distance(current_loc, next_WP_loc));
@ -110,7 +110,7 @@ bool Plane::verify_land()
// this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
if (auto_state.post_landing_stats && !arming.is_armed()) {
auto_state.post_landing_stats = false;
gcs_send_text_fmt(PSTR("Distance from LAND point=%.2fm"), (double)get_distance(current_loc, next_WP_loc));
gcs_send_text_fmt("Distance from LAND point=%.2fm", (double)get_distance(current_loc, next_WP_loc));
}
// check if we should auto-disarm after a confirmed landing
@ -139,7 +139,7 @@ void Plane::disarm_if_autoland_complete()
/* we have auto disarm enabled. See if enough time has passed */
if (millis() - auto_state.last_flying_ms >= g.land_disarm_delay*1000UL) {
if (disarm_motors()) {
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("Auto-Disarmed"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"Auto-Disarmed");
}
}
}
@ -260,14 +260,14 @@ bool Plane::restart_landing_sequence()
mission.set_current_cmd(current_index+1))
{
// if the next immediate command is MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT to climb, do it
gcs_send_text_fmt(PSTR("Restarted landing sequence climbing to %dm"), cmd.content.location.alt/100);
gcs_send_text_fmt("Restarted landing sequence climbing to %dm", cmd.content.location.alt/100);
success = true;
}
else if (do_land_start_index != 0 &&
mission.set_current_cmd(do_land_start_index))
{
// look for a DO_LAND_START and use that index
gcs_send_text_fmt(PSTR("Restarted landing via DO_LAND_START: %d"),do_land_start_index);
gcs_send_text_fmt("Restarted landing via DO_LAND_START: %d",do_land_start_index);
success = true;
}
else if (prev_cmd_with_wp_index != AP_MISSION_CMD_INDEX_NONE &&
@ -275,10 +275,10 @@ bool Plane::restart_landing_sequence()
{
// if a suitable navigation waypoint was just executed, one that contains lat/lng/alt, then
// repeat that cmd to restart the landing from the top of approach to repeat intended glide slope
gcs_send_text_fmt(PSTR("Restarted landing sequence at waypoint %d"), prev_cmd_with_wp_index);
gcs_send_text_fmt("Restarted landing sequence at waypoint %d", prev_cmd_with_wp_index);
success = true;
} else {
gcs_send_text_fmt(PSTR("Unable to restart landing sequence!"));
gcs_send_text_fmt("Unable to restart landing sequence!");
success = false;
}
return success;
@ -301,12 +301,12 @@ bool Plane::jump_to_landing_sequence(void)
mission.resume();
}
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Landing sequence begun."));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Landing sequence begun.");
return true;
}
}
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Unable to start landing sequence."));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, "Unable to start landing sequence.");
return false;
}

6
ArduPlane/parachute.cpp
View File

@ -21,7 +21,7 @@ void Plane::parachute_release()
}
// send message to gcs and dataflash
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Parachute: Released"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,"Parachute: Released");
// release parachute
parachute.release();
@ -42,12 +42,12 @@ bool Plane::parachute_manual_release()
// do not release if vehicle is not flying
if (!is_flying()) {
// warn user of reason for failure
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("Parachute: not flying"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"Parachute: not flying");
return false;
}
if (relative_altitude() < parachute.alt_min()) {
gcs_send_text_fmt(PSTR("Parachute: too low"));
gcs_send_text_fmt("Parachute: too low");
return false;
}

4
ArduPlane/radio.cpp
View File

@ -239,7 +239,7 @@ void Plane::control_failsafe(uint16_t pwm)
// throttle has dropped below the mark
failsafe.ch3_counter++;
if (failsafe.ch3_counter == 10) {
gcs_send_text_fmt(PSTR("MSG FS ON %u"), (unsigned)pwm);
gcs_send_text_fmt("MSG FS ON %u", (unsigned)pwm);
failsafe.ch3_failsafe = true;
AP_Notify::flags.failsafe_radio = true;
}
@ -255,7 +255,7 @@ void Plane::control_failsafe(uint16_t pwm)
failsafe.ch3_counter = 3;
}
if (failsafe.ch3_counter == 1) {
gcs_send_text_fmt(PSTR("MSG FS OFF %u"), (unsigned)pwm);
gcs_send_text_fmt("MSG FS OFF %u", (unsigned)pwm);
} else if(failsafe.ch3_counter == 0) {
failsafe.ch3_failsafe = false;
AP_Notify::flags.failsafe_radio = false;

6
ArduPlane/sensors.cpp
View File

@ -5,10 +5,10 @@
void Plane::init_barometer(void)
{
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Calibrating barometer"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Calibrating barometer");
barometer.calibrate();
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("barometer calibration complete"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "barometer calibration complete");
}
void Plane::init_rangefinder(void)
@ -75,7 +75,7 @@ void Plane::zero_airspeed(bool in_startup)
read_airspeed();
// update barometric calibration with new airspeed supplied temperature
barometer.update_calibration();
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("zero airspeed calibrated"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"zero airspeed calibrated");
}
// read_battery - reads battery voltage and current and invokes failsafe

14
ArduPlane/setup.cpp
View File

@ -19,12 +19,12 @@ 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(PSTR("Setup Mode\n"
cliSerial->printf_P("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"
"and then the 'radio' command to configure for your radio.\n"
"\n"));
"\n");
// Run the setup menu. When the menu exits, we will return to the main menu.
setup_menu.run();
@ -37,7 +37,7 @@ int8_t Plane::setup_factory(uint8_t argc, const Menu::arg *argv)
{
int c;
cliSerial->printf_P(PSTR("\nType 'Y' and hit Enter to perform factory reset, any other key to abort: "));
cliSerial->printf_P("\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(PSTR("\nFACTORY RESET complete - please reset board to continue"));
cliSerial->printf_P("\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(PSTR("\nType 'Y' and hit Enter to erase all waypoint and parameter data, any other key to abort: "));
cliSerial->printf_P("\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(PSTR("\nErasing EEPROM\n"));
cliSerial->printf_P("\nErasing EEPROM\n");
StorageManager::erase();
cliSerial->printf_P(PSTR("done\n"));
cliSerial->printf_P("done\n");
}
#endif // CLI_ENABLED

56
ArduPlane/system.cpp
View File

@ -12,16 +12,14 @@
#if CLI_ENABLED == ENABLED
// This is the help function
// PSTR is an AVR macro to read strings from flash memory
// printf_P is a version of print_f that reads from flash memory
int8_t Plane::main_menu_help(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf_P(PSTR("Commands:\n"
cliSerial->printf_P("Commands:\n"
" logs log readback/setup mode\n"
" setup setup mode\n"
" test test mode\n"
" reboot reboot to flight mode\n"
"\n"));
"\n");
return(0);
}
@ -85,8 +83,8 @@ void Plane::init_ardupilot()
// initialise serial port
serial_manager.init_console();
cliSerial->printf_P(PSTR("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n"),
cliSerial->printf_P("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
hal.util->available_memory());
@ -185,7 +183,7 @@ void Plane::init_ardupilot()
compass_ok = true;
#endif
if (!compass_ok) {
cliSerial->println_P(PSTR("Compass initialisation failed!"));
cliSerial->println_P("Compass initialisation failed!");
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
@ -230,7 +228,7 @@ void Plane::init_ardupilot()
#if CLI_ENABLED == ENABLED
if (g.cli_enabled == 1) {
const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
const prog_char_t *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println_P(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println_P(msg);
@ -268,10 +266,10 @@ void Plane::startup_ground(void)
{
set_mode(INITIALISING);
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("<startup_ground> GROUND START"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"<startup_ground> GROUND START");
#if (GROUND_START_DELAY > 0)
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("<startup_ground> With Delay"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"<startup_ground> With Delay");
delay(GROUND_START_DELAY * 1000);
#endif
@ -318,7 +316,7 @@ void Plane::startup_ground(void)
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash);
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("\n\n Ready to FLY."));
gcs_send_text_P(MAV_SEVERITY_WARNING,"\n\n Ready to FLY.");
}
enum FlightMode Plane::get_previous_mode() {
@ -562,14 +560,14 @@ void Plane::startup_INS_ground(void)
while (barometer.get_last_update() == 0) {
// the barometer begins updating when we get the first
// HIL_STATE message
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Waiting for first HIL_STATE message"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message");
hal.scheduler->delay(1000);
}
}
#endif
if (ins.gyro_calibration_timing() != AP_InertialSensor::GYRO_CAL_NEVER) {
gcs_send_text_P(MAV_SEVERITY_ALERT, PSTR("Beginning INS calibration; do not move plane"));
gcs_send_text_P(MAV_SEVERITY_ALERT, "Beginning INS calibration; do not move plane");
hal.scheduler->delay(100);
}
@ -590,7 +588,7 @@ void Plane::startup_INS_ground(void)
// --------------------------
zero_airspeed(true);
} else {
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("NO airspeed"));
gcs_send_text_P(MAV_SEVERITY_WARNING,"NO airspeed");
}
}
@ -638,46 +636,46 @@ void Plane::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
{
switch (mode) {
case MANUAL:
port->print_P(PSTR("Manual"));
port->print_P("Manual");
break;
case CIRCLE:
port->print_P(PSTR("Circle"));
port->print_P("Circle");
break;
case STABILIZE:
port->print_P(PSTR("Stabilize"));
port->print_P("Stabilize");
break;
case TRAINING:
port->print_P(PSTR("Training"));
port->print_P("Training");
break;
case ACRO:
port->print_P(PSTR("ACRO"));
port->print_P("ACRO");
break;
case FLY_BY_WIRE_A:
port->print_P(PSTR("FBW_A"));
port->print_P("FBW_A");
break;
case AUTOTUNE:
port->print_P(PSTR("AUTOTUNE"));
port->print_P("AUTOTUNE");
break;
case FLY_BY_WIRE_B:
port->print_P(PSTR("FBW_B"));
port->print_P("FBW_B");
break;
case CRUISE:
port->print_P(PSTR("CRUISE"));
port->print_P("CRUISE");
break;
case AUTO:
port->print_P(PSTR("AUTO"));
port->print_P("AUTO");
break;
case RTL:
port->print_P(PSTR("RTL"));
port->print_P("RTL");
break;
case LOITER:
port->print_P(PSTR("Loiter"));
port->print_P("Loiter");
break;
case GUIDED:
port->print_P(PSTR("Guided"));
port->print_P("Guided");
break;
default:
port->printf_P(PSTR("Mode(%u)"), (unsigned)mode);
port->printf_P("Mode(%u)", (unsigned)mode);
break;
}
}
@ -685,7 +683,7 @@ void Plane::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
#if CLI_ENABLED == ENABLED
void Plane::print_comma(void)
{
cliSerial->print_P(PSTR(","));
cliSerial->print_P(",");
}
#endif

12
ArduPlane/takeoff.cpp
View File

@ -22,7 +22,7 @@ bool Plane::auto_takeoff_check(void)
// Reset states if process has been interrupted
if (last_check_ms && (now - last_check_ms) > 200) {
gcs_send_text_fmt(PSTR("Timer Interrupted AUTO"));
gcs_send_text_fmt("Timer Interrupted AUTO");
launchTimerStarted = false;
last_tkoff_arm_time = 0;
last_check_ms = now;
@ -48,13 +48,13 @@ bool Plane::auto_takeoff_check(void)
if (!launchTimerStarted) {
launchTimerStarted = true;
last_tkoff_arm_time = now;
gcs_send_text_fmt(PSTR("Armed AUTO, xaccel = %.1f m/s/s, waiting %.1f sec"),
gcs_send_text_fmt("Armed AUTO, xaccel = %.1f m/s/s, waiting %.1f sec",
(double)SpdHgt_Controller->get_VXdot(), (double)(wait_time_ms*0.001f));
}
// Only perform velocity check if not timed out
if ((now - last_tkoff_arm_time) > wait_time_ms+100U) {
gcs_send_text_fmt(PSTR("Timeout AUTO"));
gcs_send_text_fmt("Timeout AUTO");
goto no_launch;
}
@ -62,14 +62,14 @@ bool Plane::auto_takeoff_check(void)
if (ahrs.pitch_sensor <= -3000 ||
ahrs.pitch_sensor >= 4500 ||
labs(ahrs.roll_sensor) > 3000) {
gcs_send_text_fmt(PSTR("Bad Launch AUTO"));
gcs_send_text_fmt("Bad Launch AUTO");
goto no_launch;
}
// Check ground speed and time delay
if (((gps.ground_speed() > g.takeoff_throttle_min_speed || is_zero(g.takeoff_throttle_min_speed))) &&
((now - last_tkoff_arm_time) >= wait_time_ms)) {
gcs_send_text_fmt(PSTR("Triggered AUTO, GPSspd = %.1f"), (double)gps.ground_speed());
gcs_send_text_fmt("Triggered AUTO, GPSspd = %.1f", (double)gps.ground_speed());
launchTimerStarted = false;
last_tkoff_arm_time = 0;
return true;
@ -179,7 +179,7 @@ int8_t Plane::takeoff_tail_hold(void)
return_zero:
if (auto_state.fbwa_tdrag_takeoff_mode) {
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("FBWA tdrag off"));
gcs_send_text_P(MAV_SEVERITY_WARNING, "FBWA tdrag off");
auto_state.fbwa_tdrag_takeoff_mode = false;
}
return 0;

82
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(PSTR("Test Mode\n\n"));
cliSerial->printf_P("Test Mode\n\n");
test_menu.run();
return 0;
}
void Plane::print_hit_enter()
{
cliSerial->printf_P(PSTR("Hit Enter to exit.\n\n"));
cliSerial->printf_P("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(PSTR("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
cliSerial->printf_P("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,
@ -89,7 +89,7 @@ int8_t Plane::test_passthru(uint8_t argc, const Menu::arg *argv)
// New radio frame? (we could use also if((millis()- timer) > 20)
if (hal.rcin->new_input()) {
cliSerial->print_P(PSTR("CH:"));
cliSerial->print_P("CH:");
for(int16_t i = 0; i < 8; i++) {
cliSerial->print(hal.rcin->read(i)); // Print channel values
print_comma();
@ -126,7 +126,7 @@ int8_t Plane::test_radio(uint8_t argc, const Menu::arg *argv)
// ------------------------------
set_servos();
cliSerial->printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
cliSerial->printf_P("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(PSTR("Unplug battery, throttle in neutral, turn off radio.\n"));
cliSerial->printf_P("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(PSTR("THROTTLE CHANGED %d \n"), (int)channel_throttle->control_in);
cliSerial->printf_P("THROTTLE CHANGED %d \n", (int)channel_throttle->control_in);
fail_test++;
}
if(oldSwitchPosition != readSwitch()) {
cliSerial->printf_P(PSTR("CONTROL MODE CHANGED: "));
cliSerial->printf_P("CONTROL MODE CHANGED: ");
print_flight_mode(cliSerial, readSwitch());
cliSerial->println();
fail_test++;
}
if(rc_failsafe_active()) {
cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), (int)channel_throttle->radio_in);
cliSerial->printf_P("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(PSTR("LOS caused no change in APM.\n"));
cliSerial->printf_P("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(PSTR("Relay on\n"));
cliSerial->printf_P("Relay on\n");
relay.on(0);
hal.scheduler->delay(3000);
if(cliSerial->available() > 0) {
return (0);
}
cliSerial->printf_P(PSTR("Relay off\n"));
cliSerial->printf_P("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(PSTR("Hold current altitude\n"));
cliSerial->printf_P("Hold current altitude\n");
}else{
cliSerial->printf_P(PSTR("Hold altitude of %dm\n"), (int)g.RTL_altitude_cm/100);
cliSerial->printf_P("Hold altitude of %dm\n", (int)g.RTL_altitude_cm/100);
}
cliSerial->printf_P(PSTR("%d waypoints\n"), (int)mission.num_commands());
cliSerial->printf_P(PSTR("Hit radius: %d\n"), (int)g.waypoint_radius);
cliSerial->printf_P(PSTR("Loiter radius: %d\n\n"), (int)g.loiter_radius);
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);
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(PSTR("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n"),
cliSerial->printf_P("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(PSTR("Begin XBee X-CTU Range and RSSI Test:\n"));
cliSerial->printf_P("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(PSTR("Control CH "));
cliSerial->printf_P("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(PSTR("Position %d\n"), (int)switchPosition);
cliSerial->printf_P("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(PSTR("ADC\n"));
cliSerial->printf_P("ADC\n");
hal.scheduler->delay(1000);
while(1) {
for (int8_t i=0; i<9; i++) cliSerial->printf_P(PSTR("%.1f\t"),apm1_adc.Ch(i));
for (int8_t i=0; i<9; i++) cliSerial->printf_P("%.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(PSTR("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n"),
cliSerial->printf_P("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(PSTR("."));
cliSerial->printf_P(".");
}
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(PSTR("Calibrating."));
//cliSerial->printf_P("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(PSTR("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n"),
cliSerial->printf_P("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,
@ -419,13 +419,13 @@ 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(PSTR("Compass: "));
cliSerial->printf_P("Compass: ");
print_enabled(false);
return (0);
}
if (!compass.init()) {
cliSerial->println_P(PSTR("Compass initialisation failed!"));
cliSerial->println_P("Compass initialisation failed!");
return 0;
}
ahrs.init();
@ -465,12 +465,12 @@ 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(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
cliSerial->printf_P("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);
} else {
cliSerial->println_P(PSTR("compass not healthy"));
cliSerial->println_P("compass not healthy");
}
counter=0;
}
@ -482,7 +482,7 @@ int8_t Plane::test_mag(uint8_t argc, const Menu::arg *argv)
// save offsets. This allows you to get sane offset values using
// the CLI before you go flying.
cliSerial->println_P(PSTR("saving offsets"));
cliSerial->println_P("saving offsets");
compass.save_offsets();
return (0);
}
@ -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(PSTR("airspeed: "));
cliSerial->printf_P("airspeed: ");
print_enabled(false);
return (0);
}else{
print_hit_enter();
zero_airspeed(false);
cliSerial->printf_P(PSTR("airspeed: "));
cliSerial->printf_P("airspeed: ");
print_enabled(true);
while(1) {
hal.scheduler->delay(20);
read_airspeed();
cliSerial->printf_P(PSTR("%.1f m/s\n"), (double)airspeed.get_airspeed());
cliSerial->printf_P("%.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(PSTR("Uncalibrated relative airpressure\n"));
cliSerial->printf_P("Uncalibrated relative airpressure\n");
print_hit_enter();
init_barometer();
@ -527,9 +527,9 @@ int8_t Plane::test_pressure(uint8_t argc, const Menu::arg *argv)
barometer.update();
if (!barometer.healthy()) {
cliSerial->println_P(PSTR("not healthy"));
cliSerial->println_P("not healthy");
} else {
cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),
cliSerial->printf_P("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(PSTR("en"));
cliSerial->printf_P("en");
} else {
cliSerial->printf_P(PSTR("dis"));
cliSerial->printf_P("dis");
}
cliSerial->printf_P(PSTR("abled\n"));
cliSerial->printf_P("abled\n");
}
#endif // CLI_ENABLED

2
Tools/Hello/Hello.cpp
View File

@ -11,7 +11,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
void setup()
{
hal.console->println_P(PSTR("hello world"));
hal.console->println_P("hello world");
}
void loop()

4
Tools/Replay/Replay.cpp
View File

@ -90,7 +90,7 @@ public:
AP_InertialNav_NavEKF inertial_nav{ahrs};
AP_Vehicle::FixedWing aparm;
AP_Airspeed airspeed{aparm};
DataFlash_Class dataflash{PSTR("Replay v0.1")};
DataFlash_Class dataflash{"Replay v0.1"};
private:
Parameters g;
@ -147,7 +147,7 @@ const AP_Param::Info ReplayVehicle::var_info[] PROGMEM = {
void ReplayVehicle::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
hal.scheduler->panic(PSTR("Bad parameter table"));
hal.scheduler->panic("Bad parameter table");
}
}

16
libraries/APM_Control/AP_AutoTune.cpp
View File

@ -274,10 +274,10 @@ void AP_AutoTune::log_param_change(float v, const prog_char_t *suffix)
}
char key[AP_MAX_NAME_SIZE+1];
if (type == AUTOTUNE_ROLL) {
strncpy_P(key, PSTR("RLL2SRV_"), 8);
strncpy_P(key, "RLL2SRV_", 8);
strncpy_P(&key[8], suffix, AP_MAX_NAME_SIZE-8);
} else {
strncpy_P(key, PSTR("PTCH2SRV_"), 9);
strncpy_P(key, "PTCH2SRV_", 9);
strncpy_P(&key[9], suffix, AP_MAX_NAME_SIZE-9);
}
key[AP_MAX_NAME_SIZE] = 0;
@ -318,12 +318,12 @@ void AP_AutoTune::save_int16_if_changed(AP_Int16 &v, int16_t value, const prog_c
void AP_AutoTune::save_gains(const ATGains &v)
{
current = last_save;
save_float_if_changed(current.tau, v.tau, PSTR("TCONST"));
save_float_if_changed(current.P, v.P, PSTR("P"));
save_float_if_changed(current.I, v.I, PSTR("I"));
save_float_if_changed(current.D, v.D, PSTR("D"));
save_int16_if_changed(current.rmax, v.rmax, PSTR("RMAX"));
save_int16_if_changed(current.imax, v.imax, PSTR("IMAX"));
save_float_if_changed(current.tau, v.tau, "TCONST");
save_float_if_changed(current.P, v.P, "P");
save_float_if_changed(current.I, v.I, "I");
save_float_if_changed(current.D, v.D, "D");
save_int16_if_changed(current.rmax, v.rmax, "RMAX");
save_int16_if_changed(current.imax, v.imax, "IMAX");
last_save = current;
}

18
libraries/APM_OBC/APM_OBC.cpp
View File

@ -131,7 +131,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
// we always check for fence breach
if (geofence_breached || check_altlimit()) {
if (!_terminate) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Fence TERMINATE"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Fence TERMINATE");
_terminate.set(1);
}
}
@ -142,7 +142,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
_rc_fail_time != 0 &&
(hal.scheduler->millis() - last_valid_rc_ms) > (unsigned)_rc_fail_time.get()) {
if (!_terminate) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("RC failure terminate"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "RC failure terminate");
_terminate.set(1);
}
}
@ -164,7 +164,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
// we startup in preflight mode. This mode ends when
// we first enter auto.
if (mode == OBC_AUTO) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Starting AFS_AUTO"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Starting AFS_AUTO");
_state = STATE_AUTO;
}
break;
@ -172,7 +172,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
case STATE_AUTO:
// this is the normal mode.
if (!gcs_link_ok) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("State DATA_LINK_LOSS"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "State DATA_LINK_LOSS");
_state = STATE_DATA_LINK_LOSS;
if (_wp_comms_hold) {
_saved_wp = mission.get_current_nav_cmd().index;
@ -186,7 +186,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
break;
}
if (!gps_lock_ok) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("State GPS_LOSS"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "State GPS_LOSS");
_state = STATE_GPS_LOSS;
if (_wp_gps_loss) {
_saved_wp = mission.get_current_nav_cmd().index;
@ -206,12 +206,12 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
// losing GPS lock when data link is lost
// leads to termination
if (!_terminate) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Dual loss TERMINATE"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Dual loss TERMINATE");
_terminate.set(1);
}
} else if (gcs_link_ok) {
_state = STATE_AUTO;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("GCS OK"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "GCS OK");
// we only return to the mission if we have not exceeded AFS_MAX_COM_LOSS
if (_saved_wp != 0 &&
(_max_comms_loss <= 0 ||
@ -227,11 +227,11 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
// losing GCS link when GPS lock lost
// leads to termination
if (!_terminate) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Dual loss TERMINATE"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Dual loss TERMINATE");
_terminate.set(1);
}
} else if (gps_lock_ok) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("GPS OK"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "GPS OK");
_state = STATE_AUTO;
// we only return to the mission if we have not exceeded AFS_MAX_GPS_LOSS
if (_saved_wp != 0 &&

2
libraries/AP_ADC/AP_ADC_ADS1115.cpp
View File

@ -188,7 +188,7 @@ float AP_ADC_ADS1115::_convert_register_data_to_mv(int16_t word) const
default:
pga = 0.0f;
hal.console->printf("Wrong gain");
hal.scheduler->panic(PSTR("ADS1115: wrong gain selected"));
hal.scheduler->panic("ADS1115: wrong gain selected");
break;
}

16
libraries/AP_ADC/AP_ADC_ADS7844.cpp
View File

@ -91,8 +91,8 @@ void AP_ADC_ADS7844::read(void)
if (!got) {
semfail_ctr++;
if (semfail_ctr > 100) {
hal.scheduler->panic(PSTR("PANIC: failed to take _spi_sem "
"100 times in AP_ADC_ADS7844::read"));
hal.scheduler->panic("PANIC: failed to take _spi_sem "
"100 times in AP_ADC_ADS7844::read");
}
return;
} else {
@ -138,20 +138,20 @@ void AP_ADC_ADS7844::Init()
hal.scheduler->suspend_timer_procs();
_spi = hal.spi->device(AP_HAL::SPIDevice_ADS7844);
if (_spi == NULL) {
hal.scheduler->panic(PSTR("PANIC: AP_ADC_ADS7844 missing SPI device "
"driver\n"));
hal.scheduler->panic("PANIC: AP_ADC_ADS7844 missing SPI device "
"driver\n");
}
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
hal.scheduler->panic(PSTR("PANIC: AP_ADC_ADS7844 missing SPI device "
"semaphore"));
hal.scheduler->panic("PANIC: AP_ADC_ADS7844 missing SPI device "
"semaphore");
}
if (!_spi_sem->take(0)) {
hal.scheduler->panic(PSTR("PANIC: failed to take _spi_sem in"
"AP_ADC_ADS7844::Init"));
hal.scheduler->panic("PANIC: failed to take _spi_sem in"
"AP_ADC_ADS7844::Init");
}
_spi->cs_assert();

4
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
View File

@ -83,8 +83,8 @@ void loop(void)
if (now - last_print >= 100000 /* 100ms : 10hz */) {
Vector3f drift = ahrs.get_gyro_drift();
hal.console->printf_P(
PSTR("r:%4.1f p:%4.1f y:%4.1f "
"drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n"),
"r:%4.1f p:%4.1f y:%4.1f "
"drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n",
ToDeg(ahrs.roll),
ToDeg(ahrs.pitch),
ToDeg(ahrs.yaw),

2
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -195,7 +195,7 @@ void AP_Airspeed::calibrate(bool in_startup)
}
if (count == 0) {
// unhealthy sensor
hal.console->println_P(PSTR("Airspeed sensor unhealthy"));
hal.console->println_P("Airspeed sensor unhealthy");
_offset.set(0);
return;
}

48
libraries/AP_Arming/AP_Arming.cpp
View File

@ -83,7 +83,7 @@ bool AP_Arming::barometer_checks(bool report)
(checks_to_perform & ARMING_CHECK_BARO)) {
if (!barometer.all_healthy()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Barometer not healthy"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Barometer not healthy");
}
return false;
}
@ -103,7 +103,7 @@ bool AP_Arming::airspeed_checks(bool report)
}
if (airspeed->enabled() && airspeed->use() && !airspeed->healthy()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: airspeed not healthy"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: airspeed not healthy");
}
return false;
}
@ -118,7 +118,7 @@ bool AP_Arming::logging_checks(bool report)
(checks_to_perform & ARMING_CHECK_LOGGING)) {
if (!logging_available) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: logging not available"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: logging not available");
}
return false;
}
@ -133,25 +133,25 @@ bool AP_Arming::ins_checks(bool report)
const AP_InertialSensor &ins = ahrs.get_ins();
if (!ins.get_gyro_health_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: gyros not healthy"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: gyros not healthy");
}
return false;
}
if (!ins.gyro_calibrated_ok_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: gyros not calibrated"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: gyros not calibrated");
}
return false;
}
if (!ins.get_accel_health_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: accels not healthy"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: accels not healthy");
}
return false;
}
if (!ins.accel_calibrated_ok_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: 3D accel cal needed"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: 3D accel cal needed");
}
return false;
}
@ -179,7 +179,7 @@ bool AP_Arming::ins_checks(bool report)
}
if (hal.scheduler->millis() - last_accel_pass_ms[i] > 10000) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: inconsistent Accelerometers"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: inconsistent Accelerometers");
}
return false;
}
@ -200,7 +200,7 @@ bool AP_Arming::ins_checks(bool report)
}
if (hal.scheduler->millis() - last_gyro_pass_ms[i] > 10000) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: inconsistent gyros"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: inconsistent gyros");
}
return false;
}
@ -223,14 +223,14 @@ bool AP_Arming::compass_checks(bool report)
if (!_compass.healthy()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Compass not healthy"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass not healthy");
}
return false;
}
// check compass learning is on or offsets have been set
if (!_compass.learn_offsets_enabled() && !_compass.configured()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Compass not calibrated"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass not calibrated");
}
return false;
}
@ -238,7 +238,7 @@ bool AP_Arming::compass_checks(bool report)
//check if compass is calibrating
if (_compass.is_calibrating()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Arm: Compass calibration running"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Arm: Compass calibration running");
}
return false;
}
@ -246,7 +246,7 @@ bool AP_Arming::compass_checks(bool report)
//check if compass has calibrated and requires reboot
if (_compass.compass_cal_requires_reboot()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Compass calibrated requires reboot"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot");
}
return false;
}
@ -255,7 +255,7 @@ bool AP_Arming::compass_checks(bool report)
Vector3f offsets = _compass.get_offsets();
if (offsets.length() > AP_ARMING_COMPASS_OFFSETS_MAX) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Compass offsets too high"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass offsets too high");
}
return false;
}
@ -264,7 +264,7 @@ bool AP_Arming::compass_checks(bool report)
float mag_field = _compass.get_field().length();
if (mag_field > AP_ARMING_COMPASS_MAGFIELD_MAX || mag_field < AP_ARMING_COMPASS_MAGFIELD_MIN) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Check mag field"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Check mag field");
}
return false;
}
@ -272,7 +272,7 @@ bool AP_Arming::compass_checks(bool report)
// check all compasses point in roughly same direction
if (!_compass.consistent()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,PSTR("PreArm: inconsistent compasses"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent compasses");
}
return false;
}
@ -291,7 +291,7 @@ bool AP_Arming::gps_checks(bool report)
if (home_is_set == HOME_UNSET ||
gps.status() < AP_GPS::GPS_OK_FIX_3D) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Bad GPS Position"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Bad GPS Position");
}
return false;
}
@ -307,7 +307,7 @@ bool AP_Arming::battery_checks(bool report)
if (AP_Notify::flags.failsafe_battery) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Battery failsafe on"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Battery failsafe on");
}
return false;
}
@ -321,7 +321,7 @@ bool AP_Arming::hardware_safety_check(bool report)
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Hardware Safety Switch"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Hardware Safety Switch");
}
return false;
}
@ -336,7 +336,7 @@ bool AP_Arming::manual_transmitter_checks(bool report)
if (AP_Notify::flags.failsafe_radio) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Radio failsafe on"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Radio failsafe on");
}
return false;
}
@ -356,7 +356,7 @@ bool AP_Arming::board_voltage_checks(bool report)
if(!is_zero(hal.analogin->board_voltage()) &&
((hal.analogin->board_voltage() < AP_ARMING_BOARD_VOLTAGE_MIN) || (hal.analogin->board_voltage() > AP_ARMING_BOARD_VOLTAGE_MAX))) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check Board Voltage"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,"PreArm: Check Board Voltage");
}
return false;
}
@ -398,7 +398,7 @@ bool AP_Arming::arm(uint8_t method)
if (checks_to_perform == ARMING_CHECK_NONE) {
armed = true;
arming_method = NONE;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Throttle armed!"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Throttle armed!");
return true;
}
@ -406,7 +406,7 @@ bool AP_Arming::arm(uint8_t method)
armed = true;
arming_method = method;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Throttle armed!"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Throttle armed!");
//TODO: Log motor arming to the dataflash
//Can't do this from this class until there is a unified logging library
@ -427,7 +427,7 @@ bool AP_Arming::disarm()
}
armed = false;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Throttle disarmed!"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Throttle disarmed!");
//TODO: Log motor disarming to the dataflash
//Can't do this from this class until there is a unified logging library.

14
libraries/AP_Baro/AP_Baro.cpp
View File

@ -104,8 +104,8 @@ void AP_Baro::calibrate()
do {
update();
if (hal.scheduler->millis() - tstart > 500) {
hal.scheduler->panic(PSTR("PANIC: AP_Baro::read unsuccessful "
"for more than 500ms in AP_Baro::calibrate [2]\r\n"));
hal.scheduler->panic("PANIC: AP_Baro::read unsuccessful "
"for more than 500ms in AP_Baro::calibrate [2]\r\n");
}
hal.scheduler->delay(10);
} while (!healthy());
@ -124,8 +124,8 @@ void AP_Baro::calibrate()
do {
update();
if (hal.scheduler->millis() - tstart > 500) {
hal.scheduler->panic(PSTR("PANIC: AP_Baro::read unsuccessful "
"for more than 500ms in AP_Baro::calibrate [3]\r\n"));
hal.scheduler->panic("PANIC: AP_Baro::read unsuccessful "
"for more than 500ms in AP_Baro::calibrate [3]\r\n");
}
} while (!healthy());
for (uint8_t i=0; i<_num_sensors; i++) {
@ -152,7 +152,7 @@ void AP_Baro::calibrate()
return;
}
}
hal.scheduler->panic(PSTR("AP_Baro: all sensors uncalibrated"));
hal.scheduler->panic("AP_Baro: all sensors uncalibrated");
}
/*
@ -322,7 +322,7 @@ void AP_Baro::init(void)
}
#endif
if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == NULL) {
hal.scheduler->panic(PSTR("Baro: unable to initialise driver"));
hal.scheduler->panic("Baro: unable to initialise driver");
}
}
@ -396,7 +396,7 @@ void AP_Baro::accumulate(void)
uint8_t AP_Baro::register_sensor(void)
{
if (_num_sensors >= BARO_MAX_INSTANCES) {
hal.scheduler->panic(PSTR("Too many barometers"));
hal.scheduler->panic("Too many barometers");
}
return _num_sensors++;
}

4
libraries/AP_Baro/AP_Baro_BMP085.cpp
View File

@ -68,7 +68,7 @@ AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro) :
// take i2c bus sempahore
if (!i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
hal.scheduler->panic(PSTR("BMP085: unable to get semaphore"));
hal.scheduler->panic("BMP085: unable to get semaphore");
}
// End Of Conversion (PC7) input
@ -76,7 +76,7 @@ AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro) :
// We read the calibration data registers
if (hal.i2c->readRegisters(BMP085_ADDRESS, 0xAA, 22, buff) != 0) {
hal.scheduler->panic(PSTR("BMP085: bad calibration registers"));
hal.scheduler->panic("BMP085: bad calibration registers");
}
ac1 = ((int16_t)buff[0] << 8) | buff[1];

10
libraries/AP_Baro/AP_Baro_MS5611.cpp
View File

@ -51,11 +51,11 @@ void AP_SerialBus_SPI::init()
{
_spi = hal.spi->device(_device);
if (_spi == NULL) {
hal.scheduler->panic(PSTR("did not get valid SPI device driver!"));
hal.scheduler->panic("did not get valid SPI device driver!");
}
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
hal.scheduler->panic(PSTR("AP_SerialBus_SPI did not get valid SPI semaphroe!"));
hal.scheduler->panic("AP_SerialBus_SPI did not get valid SPI semaphroe!");
}
_spi->set_bus_speed(_speed);
}
@ -111,7 +111,7 @@ void AP_SerialBus_I2C::init()
{
_i2c_sem = _i2c->get_semaphore();
if (_i2c_sem == NULL) {
hal.scheduler->panic(PSTR("AP_SerialBus_I2C did not get valid I2C semaphore!"));
hal.scheduler->panic("AP_SerialBus_I2C did not get valid I2C semaphore!");
}
}
@ -174,7 +174,7 @@ AP_Baro_MS56XX::AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_tim
hal.scheduler->suspend_timer_procs();
if (!_serial->sem_take_blocking()){
hal.scheduler->panic(PSTR("PANIC: AP_Baro_MS56XX: failed to take serial semaphore for init"));
hal.scheduler->panic("PANIC: AP_Baro_MS56XX: failed to take serial semaphore for init");
}
_serial->write(CMD_MS5611_RESET);
@ -190,7 +190,7 @@ AP_Baro_MS56XX::AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_tim
_C6 = _serial->read_16bits(CMD_MS5611_PROM_C6);
if (!_check_crc()) {
hal.scheduler->panic(PSTR("Bad CRC on MS5611"));
hal.scheduler->panic("Bad CRC on MS5611");
}
// Send a command to read Temp first

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(PSTR("\ni:%u high:%u low:%u"),(unsigned int)i, (unsigned int)high, (unsigned int)low);
hal.console->printf_P("\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(PSTR("\ni:%u high:%u low:%u"),(unsigned int)i, (unsigned int)high, (unsigned int)low);
hal.console->printf_P("\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(PSTR("HMC5843: Unable to get bus semaphore\n"));
hal.console->printf_P("HMC5843: Unable to get bus semaphore\n");
goto fail_sem;
}
if (!_bus->configure()) {
hal.console->printf_P(PSTR("HMC5843: Could not configure the bus\n"));
hal.console->printf_P("HMC5843: Could not configure the bus\n");
goto errout;
}
if (!_detect_version()) {
hal.console->printf_P(PSTR("HMC5843: Could not detect version\n"));
hal.console->printf_P("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(PSTR("HMC5843: Could not calibrate sensor\n"));
hal.console->printf_P("HMC5843: Could not calibrate sensor\n");
goto errout;
}
@ -313,7 +313,7 @@ AP_Compass_HMC5843::init()
}
if (!_bus->start_measurements()) {
hal.console->printf_P(PSTR("HMC5843: Could not start measurements on bus\n"));
hal.console->printf_P("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(PSTR("CalX: %.2f CalY: %.2f CalZ: %.2f\n"),
hal.console->printf_P("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(PSTR("mag %d %d %d\n"), _mag_x, _mag_y, _mag_z);
// hal.console->printf_P("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(PSTR("cal=%.2f %.2f %.2f\n"), cal[0], cal[1], cal[2]);
// hal.console->printf_P("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(PSTR("car=%.2f %.2f %.2f good\n"), cal[0], cal[1], cal[2]);
// hal.console->printf_P("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(PSTR("MagX: %d MagY: %d MagZ: %d\n"), (int)_mag_x, (int)_mag_y, (int)_mag_z);
hal.console->printf_P(PSTR("CalX: %.2f CalY: %.2f CalZ: %.2f\n"), cal[0], cal[1], cal[2]);
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]);
#endif
}

12
libraries/AP_Compass/AP_Compass_LSM303D.cpp
View File

@ -240,7 +240,7 @@ bool AP_Compass_LSM303D::_read_raw()
{
if (_register_read(ADDR_CTRL_REG7) != _reg7_expected) {
hal.console->println_P(
PSTR("LSM303D _read_data_transaction_accel: _reg7_expected unexpected"));
"LSM303D _read_data_transaction_accel: _reg7_expected unexpected");
// reset();
return false;
}
@ -302,7 +302,7 @@ AP_Compass_LSM303D::init()
uint8_t whoami = _register_read(ADDR_WHO_AM_I);
if (whoami != WHO_I_AM) {
hal.console->printf("LSM303D: unexpected WHOAMI 0x%x\n", (unsigned)whoami);
hal.scheduler->panic(PSTR("LSM303D: bad WHOAMI"));
hal.scheduler->panic("LSM303D: bad WHOAMI");
}
uint8_t tries = 0;
@ -312,19 +312,19 @@ AP_Compass_LSM303D::init()
if (success) {
hal.scheduler->delay(5+2);
if (!_spi_sem->take(100)) {
hal.scheduler->panic(PSTR("LSM303D: Unable to get semaphore"));
hal.scheduler->panic("LSM303D: Unable to get semaphore");
}
if (_data_ready()) {
_spi_sem->give();
break;
} else {
hal.console->println_P(
PSTR("LSM303D startup failed: no data ready"));
"LSM303D startup failed: no data ready");
}
_spi_sem->give();
}
if (tries++ > 5) {
hal.scheduler->panic(PSTR("PANIC: failed to boot LSM303D 5 times"));
hal.scheduler->panic("PANIC: failed to boot LSM303D 5 times");
}
} while (1);
@ -356,7 +356,7 @@ uint32_t AP_Compass_LSM303D::get_dev_id()
bool AP_Compass_LSM303D::_hardware_init(void)
{
if (!_spi_sem->take(100)) {
hal.scheduler->panic(PSTR("LSM303D: Unable to get semaphore"));
hal.scheduler->panic("LSM303D: Unable to get semaphore");
}
// initially run the bus at low speed

6
libraries/AP_Compass/Compass.cpp
View File

@ -401,7 +401,7 @@ Compass::init()
uint8_t Compass::register_compass(void)
{
if (_compass_count == COMPASS_MAX_INSTANCES) {
hal.scheduler->panic(PSTR("Too many compass instances"));
hal.scheduler->panic("Too many compass instances");
}
return _compass_count++;
}
@ -411,7 +411,7 @@ void Compass::_add_backend(AP_Compass_Backend *backend)
if (!backend)
return;
if (_backend_count == COMPASS_MAX_BACKEND)
hal.scheduler->panic(PSTR("Too many compass backends"));
hal.scheduler->panic("Too many compass backends");
_backends[_backend_count++] = backend;
}
@ -451,7 +451,7 @@ void Compass::_detect_backends(void)
if (_backend_count == 0 ||
_compass_count == 0) {
hal.console->println_P(PSTR("No Compass backends available"));
hal.console->println_P("No Compass backends available");
}
}

8
libraries/AP_Curve/AP_Curve.cpp
View File

@ -83,13 +83,13 @@ T AP_Curve<T,SIZE>::get_y( T x )
template <class T, uint8_t SIZE>
void AP_Curve<T,SIZE>::dump_curve(AP_HAL::BetterStream* s)
{
s->println_P(PSTR("Curve:"));
s->println_P("Curve:");
for( uint8_t i = 0; i<_num_points; i++ ){
s->print_P(PSTR("x:"));
s->print_P("x:");
s->print(_x[i]);
s->print_P(PSTR("\ty:"));
s->print_P("\ty:");
s->print(_y[i]);
s->print_P(PSTR("\tslope:"));
s->print_P("\tslope:");
s->print(_slope[i],4);
s->println();
}

18
libraries/AP_GPS/AP_GPS.cpp
View File

@ -200,7 +200,7 @@ AP_GPS::detect_instance(uint8_t instance)
if (_type[instance] == GPS_TYPE_PX4) {
// check for explicitely chosen PX4 GPS beforehand
// it is not possible to autodetect it, nor does it require a real UART
hal.console->print_P(PSTR(" PX4 "));
hal.console->print_P(" PX4 ");
new_gps = new AP_GPS_PX4(*this, state[instance], _port[instance]);
goto found_gps;
}
@ -218,10 +218,10 @@ AP_GPS::detect_instance(uint8_t instance)
#if GPS_RTK_AVAILABLE
// by default the sbf/trimble gps outputs no data on its port, until configured.
if (_type[instance] == GPS_TYPE_SBF) {
hal.console->print_P(PSTR(" SBF "));
hal.console->print_P(" SBF ");
new_gps = new AP_GPS_SBF(*this, state[instance], _port[instance]);
} else if ((_type[instance] == GPS_TYPE_GSOF)) {
hal.console->print_P(PSTR(" GSOF "));
hal.console->print_P(" GSOF ");
new_gps = new AP_GPS_GSOF(*this, state[instance], _port[instance]);
}
#endif // GPS_RTK_AVAILABLE
@ -265,23 +265,23 @@ AP_GPS::detect_instance(uint8_t instance)
if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_UBLOX) &&
pgm_read_dword(&_baudrates[dstate->last_baud]) >= 38400 &&
AP_GPS_UBLOX::_detect(dstate->ublox_detect_state, data)) {
hal.console->print_P(PSTR(" ublox "));
hal.console->print_P(" ublox ");
new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance]);
}
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_MTK19) &&
AP_GPS_MTK19::_detect(dstate->mtk19_detect_state, data)) {
hal.console->print_P(PSTR(" MTK19 "));
hal.console->print_P(" MTK19 ");
new_gps = new AP_GPS_MTK19(*this, state[instance], _port[instance]);
}
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_MTK) &&
AP_GPS_MTK::_detect(dstate->mtk_detect_state, data)) {
hal.console->print_P(PSTR(" MTK "));
hal.console->print_P(" MTK ");
new_gps = new AP_GPS_MTK(*this, state[instance], _port[instance]);
}
#if GPS_RTK_AVAILABLE
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) &&
AP_GPS_SBP::_detect(dstate->sbp_detect_state, data)) {
hal.console->print_P(PSTR(" SBP "));
hal.console->print_P(" SBP ");
new_gps = new AP_GPS_SBP(*this, state[instance], _port[instance]);
}
#endif // HAL_CPU_CLASS
@ -289,7 +289,7 @@ AP_GPS::detect_instance(uint8_t instance)
// save a bit of code space on a 1280
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SIRF) &&
AP_GPS_SIRF::_detect(dstate->sirf_detect_state, data)) {
hal.console->print_P(PSTR(" SIRF "));
hal.console->print_P(" SIRF ");
new_gps = new AP_GPS_SIRF(*this, state[instance], _port[instance]);
}
else if (now - dstate->detect_started_ms > (ARRAY_SIZE(_baudrates) * GPS_BAUD_TIME_MS)) {
@ -297,7 +297,7 @@ AP_GPS::detect_instance(uint8_t instance)
// a MTK or UBLOX which has booted in NMEA mode
if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_NMEA) &&
AP_GPS_NMEA::_detect(dstate->nmea_detect_state, data)) {
hal.console->print_P(PSTR(" NMEA "));
hal.console->print_P(" NMEA ");
new_gps = new AP_GPS_NMEA(*this, state[instance], _port[instance]);
}
}

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(PSTR("next_rate: %u\n"), (unsigned)rate_update_step);
//hal.console->printf_P("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(PSTR("Starting AP_HAL::AnalogIn test\r\n"));
hal.console->printf_P("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(PSTR("[%u %.3f] "),
hal.console->printf_P("[%u %.3f] ",
(unsigned)pin, v);
pin = (pin+1) % 16;
ch->set_pin(pin);

2
libraries/AP_HAL/examples/Printf/Printf.cpp
View File

@ -4,7 +4,7 @@
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
void setup(void) {
hal.console->println_P(PSTR("Starting Printf test"));
hal.console->println_P("Starting Printf test");
}
static const struct {

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

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

4
libraries/AP_HAL/utility/print_vprintf.cpp
View File

@ -223,9 +223,9 @@ void print_vprintf (AP_HAL::Print *s, unsigned char in_progmem, const char *fmt,
}
if (sign)
s->write(sign);
const prog_char_t *p = PSTR("inf");
const prog_char_t *p = "inf";
if (vtype & FTOA_NAN)
p = PSTR("nan");
p = "nan";
while ( (ndigs = pgm_read_byte((const prog_char *)p)) != 0) {
if (flags & FL_FLTUPP)
ndigs += 'I' - 'i';

4
libraries/AP_HAL_FLYMAPLE/AnalogIn.cpp
View File

@ -52,8 +52,8 @@ FLYMAPLEAnalogSource* FLYMAPLEAnalogIn::_create_channel(int16_t chnum) {
void FLYMAPLEAnalogIn::_register_channel(FLYMAPLEAnalogSource* ch) {
if (_num_channels >= FLYMAPLE_INPUT_MAX_CHANNELS) {
for(;;) {
hal.console->print_P(PSTR(
"Error: AP_HAL_FLYMAPLE::FLYMAPLEAnalogIn out of channels\r\n"));
hal.console->print_P(
"Error: AP_HAL_FLYMAPLE::FLYMAPLEAnalogIn out of channels\r\n");
hal.scheduler->delay(1000);
}
}

6
libraries/AP_HAL_FLYMAPLE/Scheduler.cpp
View File

@ -224,8 +224,8 @@ bool FLYMAPLEScheduler::system_initializing() {
void FLYMAPLEScheduler::system_initialized()
{
if (_initialized) {
panic(PSTR("PANIC: scheduler::system_initialized called"
"more than once"));
panic("PANIC: scheduler::system_initialized called"
"more than once");
}
_initialized = true;
}
@ -247,7 +247,7 @@ void FLYMAPLEScheduler::panic(const prog_char_t *errormsg, ...) {
}
void FLYMAPLEScheduler::reboot(bool hold_in_bootloader) {
hal.uartA->println_P(PSTR("GOING DOWN FOR A REBOOT\r\n"));
hal.uartA->println_P("GOING DOWN FOR A REBOOT\r\n");
hal.scheduler->delay(100);
nvic_sys_reset();
}

4
libraries/AP_HAL_FLYMAPLE/Semaphores.cpp
View File

@ -44,8 +44,8 @@ bool FLYMAPLESemaphore::give() {
bool FLYMAPLESemaphore::take(uint32_t timeout_ms) {
if (hal.scheduler->in_timerprocess()) {
hal.scheduler->panic(PSTR("PANIC: FLYMAPLESemaphore::take used from "
"inside timer process"));
hal.scheduler->panic("PANIC: FLYMAPLESemaphore::take used from "
"inside timer process");
return false; /* Never reached - panic does not return */
}
return _take_from_mainloop(timeout_ms);

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

@ -29,9 +29,9 @@ void setup(void)
hal.console->println(1000, 8);
hal.console->println(1000, 10);
hal.console->println(1000, 16);
hal.console->println_P(PSTR("progmem"));
hal.console->printf("printf %d %u %#x %p %f %S\n", -1000, 1000, 1000, 1000, 1.2345, PSTR("progmem"));
hal.console->printf_P(PSTR("printf_P %d %u %#x %p %f %S\n"), -1000, 1000, 1000, 1000, 1.2345, PSTR("progmem"));
hal.console->println_P("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->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(PSTR("Initializing HMC5883L at address %x\r\n"),
hal.console->printf_P("Initializing HMC5883L at address %x\r\n",
HMC5883L);
uint8_t stat = hal.i2c->writeRegister(HMC5883L,0x02,0x00);
if (stat == 0) {
hal.console->printf_P(PSTR("successful init\r\n"));
hal.console->printf_P("successful init\r\n");
} else {
hal.console->printf_P(PSTR("failed init: return status %d\r\n"),
hal.console->printf_P("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(PSTR("x: %d y: %d z: %d \r\n"), x, y, z);
hal.console->printf_P("x: %d y: %d z: %d \r\n", x, y, z);
} else {
hal.console->printf_P(PSTR("i2c error: status %d\r\n"), (int)stat);
hal.console->printf_P("i2c error: status %d\r\n", (int)stat);
}
}

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

@ -15,7 +15,7 @@ void multiread(AP_HAL::RCInput* in, uint16_t* channels) {
valid = in->new_input();
in->read(channels, 8);
hal.console->printf_P(
PSTR("multi read %d: %d %d %d %d %d %d %d %d\r\n"),
"multi read %d: %d %d %d %d %d %d %d %d\r\n",
(int) valid,
channels[0], channels[1], channels[2], channels[3],
channels[4], channels[5], channels[6], channels[7]);
@ -29,7 +29,7 @@ void individualread(AP_HAL::RCInput* in, uint16_t* channels) {
channels[i] = in->read(i);
}
hal.console->printf_P(
PSTR("individual read %d: %d %d %d %d %d %d %d %d\r\n"),
"individual read %d: %d %d %d %d %d %d %d %d\r\n",
(int) valid,
channels[0], channels[1], channels[2], channels[3],
channels[4], channels[5], channels[6], channels[7]);

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

@ -14,7 +14,7 @@ void multiread(AP_HAL::RCInput* in, uint16_t* channels) {
uint8_t valid;
valid = in->read(channels, 8);
hal.console->printf_P(
PSTR("multi read %d: %d %d %d %d %d %d %d %d\r\n"),
"multi read %d: %d %d %d %d %d %d %d %d\r\n",
(int) valid,
channels[0], channels[1], channels[2], channels[3],
channels[4], channels[5], channels[6], channels[7]);
@ -28,7 +28,7 @@ void individualread(AP_HAL::RCInput* in, uint16_t* channels) {
channels[i] = in->read(i);
}
hal.console->printf_P(
PSTR("individual read %d: %d %d %d %d %d %d %d %d\r\n"),
"individual read %d: %d %d %d %d %d %d %d %d\r\n",
(int) valid,
channels[0], channels[1], channels[2], channels[3],
channels[4], channels[5], channels[6], channels[7]);
@ -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(PSTR("rcout ch %d has frequency %d\r\n"),
hal.console->printf_P("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 */

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

@ -16,11 +16,11 @@ AP_HAL::SPIDeviceDriver* spidev;
void setup (void) {
hal.scheduler->delay(5000);
hal.console->printf_P(PSTR("Starting AP_HAL_FLYMAPLE::SPIDriver test\r\n"));
hal.console->printf_P("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)
hal.scheduler->panic(PSTR("Starting AP_HAL_FLYMAPLE::SPIDriver failed to get spidev\r\n"));
hal.scheduler->panic("Starting AP_HAL_FLYMAPLE::SPIDriver failed to get spidev\r\n");
}
void loop (void) {

24
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(PSTR("Setup pin %d\r\n"), pin_num);
hal.console->printf_P("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);
@ -62,32 +62,32 @@ void setup_pin(int pin_num) {
void setup (void) {
// hal.scheduler->delay(5000);
hal.console->printf_P(PSTR("Starting AP_HAL_AVR::Scheduler test\r\n"));
hal.console->printf_P("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(PSTR("Testing delay callback. "
"Pin %d should toggle at 1khz:\r\n"),
hal.console->printf_P("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(PSTR("Testing failsafe callback. "
"Pin %d should toggle at 1khz:\r\n"),
hal.console->printf_P("Testing failsafe callback. "
"Pin %d should toggle at 1khz:\r\n",
(int) FAILSAFE_TOGGLE_PIN);
hal.scheduler->register_timer_failsafe(failsafe_toggle, 1000);
hal.scheduler->delay(2000);
hal.console->printf_P(PSTR("Testing running timer processes.\r\n"));
hal.console->printf_P(PSTR("Pin %d should toggle at 1khz.\r\n"),
hal.console->printf_P("Testing running timer processes.\r\n");
hal.console->printf_P("Pin %d should toggle at 1khz.\r\n",
(int) SCHEDULED_TOGGLE_PIN_1);
hal.console->printf_P(PSTR("Pin %d should toggle at 1khz.\r\n"),
hal.console->printf_P("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(PSTR("Test running a pathological timer process.\r\n"
hal.console->printf_P("Test running a pathological timer process.\r\n"
"Failsafe should continue even as pathological process "
"dominates the processor."));
hal.console->printf_P(PSTR("Pin %d should toggle then go high forever.\r\n"),
"dominates the processor.");
hal.console->printf_P("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);

10
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(PSTR("Setup pin %d\r\n"), pin_num);
hal.console->printf_P("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);
@ -61,24 +61,24 @@ void setup_pin(int pin_num) {
}
void setup (void) {
hal.console->printf_P(PSTR("Starting Semaphore test\r\n"));
hal.console->printf_P("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(PSTR("Using SPIDeviceManager builtin Semaphore\r\n"));
hal.console->printf_P("Using SPIDeviceManager builtin Semaphore\r\n");
AP_HAL::SPIDeviceDriver *dataflash = hal.spi->device(AP_HAL::SPIDevice_Dataflash); // not really
if (dataflash == NULL) {
hal.scheduler->panic(PSTR("Error: No SPIDeviceDriver!"));
hal.scheduler->panic("Error: No SPIDeviceDriver!");
}
sem = dataflash->get_semaphore();
if (sem == NULL) {
hal.scheduler->panic(PSTR("Error: No SPIDeviceDriver semaphore!"));
hal.scheduler->panic("Error: No SPIDeviceDriver semaphore!");
}
hal.scheduler->register_timer_process(async_blinker);

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(PSTR("erasing... "));
hal.console->printf_P("erasing... ");
for(int i = 0; i < 100; i++) {
hal.storage->write_byte(i, 0);
}
hal.console->printf_P(PSTR(" done.\r\n"));
hal.console->printf_P(" done.\r\n");
}
void test_write() {
hal.console->printf_P(PSTR("writing... "));
hal.console->printf_P("writing... ");
hal.storage->write_block(0, fibs, sizeof(fibs));
hal.console->printf_P(PSTR(" done.\r\n"));
hal.console->printf_P(" done.\r\n");
}
void test_readback() {
hal.console->printf_P(PSTR("reading back...\r\n"));
hal.console->printf_P("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(PSTR("At index %d expected %d got %d\r\n"),
hal.console->printf_P("At index %d expected %d got %d\r\n",
i, (int) fibs[i], (int) readback[i]);
}
}
if (success) {
hal.console->printf_P(PSTR("all bytes read successfully\r\n"));
hal.console->printf_P("all bytes read successfully\r\n");
}
hal.console->printf_P(PSTR("done reading back.\r\n"));
hal.console->printf_P("done reading back.\r\n");
}
void setup (void) {
hal.scheduler->delay(5000);
hal.console->printf_P(PSTR("Starting AP_HAL_FLYMAPLE::Storage test\r\n"));
hal.console->printf_P("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

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

@ -30,11 +30,11 @@ void setup(void)
hal.uartA->println(1000, 8);
hal.uartA->println(1000, 10);
hal.uartA->println(1000, 16);
hal.uartA->println_P(PSTR("progmem"));
hal.uartA->println_P("progmem");
int x = 3;
int *ptr = &x;
hal.uartA->printf("printf %d %u %#x %p %f %s\n", -1000, 1000, 1000, ptr, 1.2345, PSTR("progmem"));
hal.uartA->printf_P(PSTR("printf_P %d %u %#x %p %f %s\n"), -1000, 1000, 1000, ptr, 1.2345, PSTR("progmem"));
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->println("done");
}

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

@ -15,8 +15,8 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
void test_snprintf_P() {
char test[40];
memset(test,0,40);
hal.util->snprintf_P(test, 40, PSTR("hello %d from prog %f %S\r\n"),
10, 1.2345, PSTR("progmem"));
hal.util->snprintf_P(test, 40, "hello %d from prog %f %S\r\n",
10, 1.2345, "progmem");
hal.console->write((const uint8_t*)test, strlen(test));
}

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

@ -10,11 +10,11 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
void setup() {
hal.scheduler->delay(5000);
hal.console->println_P(PSTR("Empty setup"));
hal.console->println_P("Empty setup");
}
void loop()
{
hal.console->println_P(PSTR("loop"));
hal.console->println_P("loop");
hal.console->printf("hello %d\n", 1234);
hal.scheduler->delay(1000);
}

4
libraries/AP_HAL_Linux/RCInput_Raspilot.cpp
View File

@ -25,8 +25,8 @@ void RCInput_Raspilot::init(void*)
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
hal.scheduler->panic(PSTR("PANIC: RCIutput_Raspilot did not get "
"valid SPI semaphore!"));
hal.scheduler->panic("PANIC: RCIutput_Raspilot did not get "
"valid SPI semaphore!");
return; // never reached
}

2
libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
View File

@ -247,7 +247,7 @@ void RCOutput_Bebop::init(void* dummy)
_i2c_sem = hal.i2c1->get_semaphore();
if (_i2c_sem == NULL) {
hal.scheduler->panic(PSTR("RCOutput_Bebop: can't get i2c sem"));
hal.scheduler->panic("RCOutput_Bebop: can't get i2c sem");
return; /* never reached */
}

4
libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp
View File

@ -84,8 +84,8 @@ void RCOutput_PCA9685::init(void* machtnicht)
{
_i2c_sem = hal.i2c->get_semaphore();
if (_i2c_sem == NULL) {
hal.scheduler->panic(PSTR("PANIC: RCOutput_PCA9685 did not get "
"valid I2C semaphore!"));
hal.scheduler->panic("PANIC: RCOutput_PCA9685 did not get "
"valid I2C semaphore!");
return; /* never reached */
}

4
libraries/AP_HAL_Linux/RCOutput_Raspilot.cpp
View File

@ -28,8 +28,8 @@ void RCOutput_Raspilot::init(void* machtnicht)
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
hal.scheduler->panic(PSTR("PANIC: RCOutput_Raspilot did not get "
"valid SPI semaphore!"));
hal.scheduler->panic("PANIC: RCOutput_Raspilot did not get "
"valid SPI semaphore!");
return; // never reached
}

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