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AP_Tuning: eliminate GCS_MAVLINK::send_statustext_all

This commit is contained in:
Peter Barker 2017-07-09 14:17:45 +10:00 committed by Francisco Ferreira
parent 85756b7226
commit 33a974d7f5
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_Tuning/AP_Tuning.cpp
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@ -79,7 +79,7 @@ void AP_Tuning::check_selector_switch(void)
// save tune // save tune
save_parameters(); save_parameters();
re_center(); re_center();
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Tuning: Saved"); gcs().send_text(MAV_SEVERITY_INFO, "Tuning: Saved");
AP_Notify::events.tune_save = 1; AP_Notify::events.tune_save = 1;
changed = false; changed = false;
need_revert = 0; need_revert = 0;
@ -91,7 +91,7 @@ void AP_Tuning::check_selector_switch(void)
if (hold_time < 2000) { if (hold_time < 2000) {
// re-center the value // re-center the value
re_center(); re_center();
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Tuning: recentered %s", get_tuning_name(current_parm)); gcs().send_text(MAV_SEVERITY_INFO, "Tuning: recentered %s", get_tuning_name(current_parm));
} else if (hold_time < 5000) { } else if (hold_time < 5000) {
// change parameter // change parameter
next_parameter(); next_parameter();
@ -126,7 +126,7 @@ void AP_Tuning::check_input(uint8_t flightmode)
// check for revert on changed flightmode // check for revert on changed flightmode
if (flightmode != last_flightmode) { if (flightmode != last_flightmode) {
if (need_revert != 0 && mode_revert != 0) { if (need_revert != 0 && mode_revert != 0) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Tuning: reverted"); gcs().send_text(MAV_SEVERITY_INFO, "Tuning: reverted");
revert_parameters(); revert_parameters();
re_center(); re_center();
} }
@ -202,7 +202,7 @@ void AP_Tuning::check_input(uint8_t flightmode)
} }
// starting tuning // starting tuning
mid_point_wait = false; mid_point_wait = false;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Tuning: mid-point %s", get_tuning_name(current_parm)); gcs().send_text(MAV_SEVERITY_INFO, "Tuning: mid-point %s", get_tuning_name(current_parm));
AP_Notify::events.tune_started = 1; AP_Notify::events.tune_started = 1;
} }
last_channel_value = chan_value; last_channel_value = chan_value;
@ -301,7 +301,7 @@ void AP_Tuning::next_parameter(void)
} }
current_parm = tuning_sets[i].parms[current_parm_index]; current_parm = tuning_sets[i].parms[current_parm_index];
re_center(); re_center();
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Tuning: started %s", get_tuning_name(current_parm)); gcs().send_text(MAV_SEVERITY_INFO, "Tuning: started %s", get_tuning_name(current_parm));
AP_Notify::events.tune_next = current_parm_index+1; AP_Notify::events.tune_next = current_parm_index+1;
break; break;
} }
@ -331,7 +331,7 @@ void AP_Tuning::check_controller_error(void)
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
if (now - last_controller_error_ms > 2000 && hal.util->get_soft_armed()) { if (now - last_controller_error_ms > 2000 && hal.util->get_soft_armed()) {
AP_Notify::events.tune_error = 1; AP_Notify::events.tune_error = 1;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Tuning: error %.2f", (double)err); gcs().send_text(MAV_SEVERITY_INFO, "Tuning: error %.2f", (double)err);
last_controller_error_ms = now; last_controller_error_ms = now;
} }
} }