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AP_Airspeed: use GCS_SEND_TEXT()

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This commit is contained in:
Andrew Tridgell 2020-03-30 09:49:53 +11:00
parent 5b063731b6
commit 40f1b5f9ae
2 changed files with 4 additions and 10 deletions
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8
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -64,12 +64,6 @@ extern const AP_HAL::HAL &hal;
#define PSI_RANGE_DEFAULT 1.0f
#endif
#ifdef HAL_NO_GCS
#define GCS_SEND_TEXT(severity, format, args...)
#else
#define GCS_SEND_TEXT(severity, format, args...) gcs().send_text(severity, format, ##args)
#endif
// table of user settable parameters
const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
@ -475,7 +469,7 @@ void AP_Airspeed::update(bool log)
read(i);
}
#if 1
#ifndef HAL_NO_GCS
// debugging until we get MAVLink support for 2nd airspeed sensor
if (enabled(1)) {
gcs().send_named_float("AS2", get_airspeed(1));

6
libraries/AP_Airspeed/AP_Airspeed_Health.cpp
View File

@ -64,7 +64,7 @@ void AP_Airspeed::check_sensor_ahrs_wind_max_failures(uint8_t i)
if (param[i].use > 0 && (AP_Airspeed::OptionsMask::ON_FAILURE_AHRS_WIND_MAX_DO_DISABLE & _options)) {
// and is probably not healthy
if (state[i].failures.health_probability < DISABLE_PROB_THRESH_CRIT) {
gcs().send_text(MAV_SEVERITY_ERROR, "Airspeed sensor %d failure. Disabling", i+1);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Airspeed sensor %d failure. Disabling", i+1);
state[i].failures.param_use_backup = param[i].use;
param[i].use.set_and_notify(0);
state[i].healthy = false;
@ -72,7 +72,7 @@ void AP_Airspeed::check_sensor_ahrs_wind_max_failures(uint8_t i)
// and is probably getting close to not healthy
} else if ((state[i].failures.health_probability < DISABLE_PROB_THRESH_WARN) && !state[i].failures.has_warned) {
state[i].failures.has_warned = true;
gcs().send_text(MAV_SEVERITY_WARNING, "Airspeed sensor %d warning", i+1);
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Airspeed sensor %d warning", i+1);
} else if (state[i].failures.health_probability > RE_ENABLE_PROB_THRESH_OK) {
state[i].failures.has_warned = false;
@ -84,7 +84,7 @@ void AP_Airspeed::check_sensor_ahrs_wind_max_failures(uint8_t i)
state[i].failures.param_use_backup > 0 &&
state[i].failures.health_probability > RE_ENABLE_PROB_THRESH_OK) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Airspeed sensor %d now OK. Re-enabled", i+1);
GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Airspeed sensor %d now OK. Re-enabled", i+1);
param[i].use.set_and_notify(state[i].failures.param_use_backup); // resume
state[i].failures.param_use_backup = -1; // set to invalid so we don't use it
state[i].failures.has_warned = false;