diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp index d64d809b3a..fcec0e1380 100644 --- a/ArduCopter/AP_Arming.cpp +++ b/ArduCopter/AP_Arming.cpp @@ -156,7 +156,7 @@ bool AP_Arming_Copter::fence_checks(bool display_failure) const char *fail_msg = nullptr; if (!copter.fence.pre_arm_check(fail_msg)) { if (display_failure && fail_msg != nullptr) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: %s", fail_msg); + gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", fail_msg); } return false; } @@ -421,7 +421,7 @@ bool AP_Arming_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, "PreArm: %s", reason); + gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason); } else { if (!mode_requires_gps && fence_requires_gps) { // clarify to user why they need GPS in non-GPS flight mode @@ -545,7 +545,7 @@ bool AP_Arming_Copter::pre_arm_proximity_check(bool display_failure) // display error if something is within 60cm if (distance <= 0.6f) { if (display_failure) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Proximity %d deg, %4.2fm", (int)angle_deg, (double)distance); + gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Proximity %d deg, %4.2fm", (int)angle_deg, (double)distance); } return false; } @@ -699,7 +699,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs) const char *fail_msg = nullptr; if (!copter.fence.pre_arm_check(fail_msg)) { if (display_failure && fail_msg != nullptr) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Arm: %s", fail_msg); + gcs().send_text(MAV_SEVERITY_CRITICAL, "Arm: %s", fail_msg); } return false; } diff --git a/ArduCopter/AP_State.cpp b/ArduCopter/AP_State.cpp index c5197f813f..d2789a8416 100644 --- a/ArduCopter/AP_State.cpp +++ b/ArduCopter/AP_State.cpp @@ -47,18 +47,18 @@ void Copter::set_simple_mode(uint8_t b) switch (b) { case 0: Log_Write_Event(DATA_SET_SIMPLE_OFF); - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode off"); + gcs().send_text(MAV_SEVERITY_INFO, "SIMPLE mode off"); break; case 1: Log_Write_Event(DATA_SET_SIMPLE_ON); - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode on"); + gcs().send_text(MAV_SEVERITY_INFO, "SIMPLE mode on"); break; case 2: default: // initialise super simple heading update_super_simple_bearing(true); Log_Write_Event(DATA_SET_SUPERSIMPLE_ON); - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on"); + gcs().send_text(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on"); break; } ap.simple_mode = b; diff --git a/ArduCopter/control_autotune.cpp b/ArduCopter/control_autotune.cpp index 6d85c0da5e..e394f52c5d 100644 --- a/ArduCopter/control_autotune.cpp +++ b/ArduCopter/control_autotune.cpp @@ -298,21 +298,21 @@ const char *Copter::autotune_level_issue_string() const void Copter::autotune_send_step_string() { if (autotune_state.pilot_override) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: Paused: Pilot Override Active"); + gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Paused: Pilot Override Active"); return; } switch (autotune_state.step) { case AUTOTUNE_STEP_WAITING_FOR_LEVEL: - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: WFL (%s) (%f > %f)", autotune_level_issue_string(), (double)(autotune_level_problem.current*0.01f), (double)(autotune_level_problem.maximum*0.01f)); + gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: WFL (%s) (%f > %f)", autotune_level_issue_string(), (double)(autotune_level_problem.current*0.01f), (double)(autotune_level_problem.maximum*0.01f)); return; case AUTOTUNE_STEP_UPDATE_GAINS: - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: UPDATING_GAINS"); + gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: UPDATING_GAINS"); return; case AUTOTUNE_STEP_TWITCHING: - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: TWITCHING"); + gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: TWITCHING"); return; } - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: unknown step"); + gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: unknown step"); } const char *Copter::autotune_type_string() const @@ -367,26 +367,26 @@ void Copter::autotune_do_gcs_announcements() break; } - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: (%c) %s", axis, autotune_type_string()); + gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: (%c) %s", axis, autotune_type_string()); autotune_send_step_string(); if (!is_zero(lean_angle)) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: lean=%f target=%f", (double)lean_angle, (double)autotune_target_angle); + gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: lean=%f target=%f", (double)lean_angle, (double)autotune_target_angle); } if (!is_zero(rotation_rate)) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: rotation=%f target=%f", (double)(rotation_rate*0.01f), (double)(autotune_target_rate*0.01f)); + gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: rotation=%f target=%f", (double)(rotation_rate*0.01f), (double)(autotune_target_rate*0.01f)); } switch (autotune_state.tune_type) { case AUTOTUNE_TYPE_RD_UP: case AUTOTUNE_TYPE_RD_DOWN: case AUTOTUNE_TYPE_RP_UP: - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: p=%f d=%f", (double)tune_rp, (double)tune_rd); + gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: p=%f d=%f", (double)tune_rp, (double)tune_rd); break; case AUTOTUNE_TYPE_SP_DOWN: case AUTOTUNE_TYPE_SP_UP: - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: p=%f accel=%f", (double)tune_sp, (double)tune_accel); + gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: p=%f accel=%f", (double)tune_sp, (double)tune_accel); break; } - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: success %u/%u", autotune_counter, AUTOTUNE_SUCCESS_COUNT); + gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: success %u/%u", autotune_counter, AUTOTUNE_SUCCESS_COUNT); autotune_announce_time = now; } @@ -575,7 +575,7 @@ void Copter::autotune_attitude_control() // if we have been level for a sufficient amount of time (0.5 seconds) move onto tuning step if (millis() - autotune_step_start_time >= AUTOTUNE_REQUIRED_LEVEL_TIME_MS) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: Twitch"); + gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Twitch"); // initiate variables for next step autotune_state.step = AUTOTUNE_STEP_TWITCHING; autotune_step_start_time = millis(); diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp index 0d751464fb..9e0f6e2b56 100644 --- a/ArduPlane/AP_Arming.cpp +++ b/ArduPlane/AP_Arming.cpp @@ -49,21 +49,21 @@ bool AP_Arming_Plane::pre_arm_checks(bool report) if (plane.aparm.roll_limit_cd < 300) { if (report) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: LIM_ROLL_CD too small (%u)", plane.aparm.roll_limit_cd); + gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_ROLL_CD too small (%u)", plane.aparm.roll_limit_cd); } ret = false; } if (plane.aparm.pitch_limit_max_cd < 300) { if (report) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MAX too small (%u)", plane.aparm.pitch_limit_max_cd); + gcs().send_text(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, "PreArm: LIM_PITCH_MIN too large (%u)", plane.aparm.pitch_limit_min_cd); + gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MIN too large (%u)", plane.aparm.pitch_limit_min_cd); } ret = false; } @@ -73,21 +73,21 @@ bool AP_Arming_Plane::pre_arm_checks(bool report) plane.g.throttle_fs_value < plane.channel_throttle->get_radio_max()) { if (report) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Invalid THR_FS_VALUE for rev throttle"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Invalid THR_FS_VALUE for rev throttle"); } ret = false; } if (plane.quadplane.available() && plane.scheduler.get_loop_rate_hz() < 100) { if (report) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: quadplane needs SCHED_LOOP_RATE > 100"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: quadplane needs SCHED_LOOP_RATE > 100"); } ret = false; } if (plane.control_mode == AUTO && plane.mission.num_commands() <= 1) { if (report) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: No mission loaded"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: No mission loaded"); } ret = false; } @@ -95,7 +95,7 @@ bool AP_Arming_Plane::pre_arm_checks(bool report) // check adsb avoidance failsafe if (plane.failsafe.adsb) { if (report) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected"); + gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected"); } ret = false; } @@ -104,7 +104,7 @@ bool AP_Arming_Plane::pre_arm_checks(bool report) if (plane.last_mixer_crc == -1) { if (report) { // if you ever get this error, a reboot is recommended. - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,"PreArm: Mixer error"); + gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Mixer error"); } ret = false; } @@ -127,9 +127,9 @@ 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, "PreArm: %s", reason); + gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason); } else { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: AHRS not healthy"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: AHRS not healthy"); } } return false;