Copter: Unify from print or println to printf.

ArduCopter/Log.cpp

@@ -24,10 +24,10 @@ MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&copter, &Copter::print_l
 
 bool Copter::print_log_menu(void)
 {
-    cliSerial->print("logs enabled: ");
+    cliSerial->printf("logs enabled: ");
 
     if (0 == g.log_bitmask) {
-        cliSerial->print("none");
+        cliSerial->printf("none");
     }else{
         // Macro to make the following code a bit easier on the eye.
         // Pass it the capitalised name of the log option, as defined
@@ -52,7 +52,7 @@ bool Copter::print_log_menu(void)
 #undef PLOG
     }
 
-    cliSerial->println();
+    cliSerial->printf("\n");
 
     DataFlash.ListAvailableLogs(cliSerial);
 
@@ -73,11 +73,11 @@ int8_t Copter::dump_log(uint8_t argc, const Menu::arg *argv)
         DataFlash.DumpPageInfo(cliSerial);
         return(-1);
     } else if (dump_log_num <= 0) {
-        cliSerial->println("dumping all");
+        cliSerial->printf("dumping all\n");
         Log_Read(0, 1, 0);
         return(-1);
     } else if ((argc != 2) || ((uint16_t)dump_log_num > DataFlash.get_num_logs())) {
-        cliSerial->println("bad log number");
+        cliSerial->printf("bad log number\n");
         return(-1);
     }
 
@@ -100,7 +100,7 @@ int8_t Copter::select_logs(uint8_t argc, const Menu::arg *argv)
     uint16_t bits;
 
     if (argc != 2) {
-        cliSerial->println("missing log type");
+        cliSerial->printf("missing log type\n");
         return(-1);
     }
 
@@ -908,7 +908,7 @@ void Copter::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_pag
                         (unsigned) hal.util->available_memory(),
                         get_frame_string());
 
-    cliSerial->println(HAL_BOARD_NAME);
+    cliSerial->printf("%s\n", HAL_BOARD_NAME);
 
     DataFlash.LogReadProcess(list_entry, start_page, end_page,
                              FUNCTOR_BIND_MEMBER(&Copter::print_flight_mode, void, AP_HAL::BetterStream *, uint8_t),

ArduCopter/Parameters.cpp

@@ -1046,7 +1046,7 @@ const AP_Param::ConversionInfo conversion_table[] = {
 void Copter::load_parameters(void)
 {
     if (!AP_Param::check_var_info()) {
-        cliSerial->println("Bad var table");
+        cliSerial->printf("Bad var table\n");
         AP_HAL::panic("Bad var table");
     }
 
@@ -1058,12 +1058,12 @@ void Copter::load_parameters(void)
         g.format_version != Parameters::k_format_version) {
 
         // erase all parameters
-        cliSerial->println("Firmware change: erasing EEPROM...");
+        cliSerial->printf("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("done.");
+        cliSerial->printf("done.\n");
     }
 
     uint32_t before = micros();

ArduCopter/flight_mode.cpp

@@ -432,58 +432,58 @@ void Copter::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
 {
     switch (mode) {
     case STABILIZE:
-        port->print("STABILIZE");
+        port->printf("STABILIZE");
         break;
     case ACRO:
-        port->print("ACRO");
+        port->printf("ACRO");
         break;
     case ALT_HOLD:
-        port->print("ALT_HOLD");
+        port->printf("ALT_HOLD");
         break;
     case AUTO:
-        port->print("AUTO");
+        port->printf("AUTO");
         break;
     case GUIDED:
-        port->print("GUIDED");
+        port->printf("GUIDED");
         break;
     case LOITER:
-        port->print("LOITER");
+        port->printf("LOITER");
         break;
     case RTL:
-        port->print("RTL");
+        port->printf("RTL");
         break;
     case CIRCLE:
-        port->print("CIRCLE");
+        port->printf("CIRCLE");
         break;
     case LAND:
-        port->print("LAND");
+        port->printf("LAND");
         break;
     case DRIFT:
-        port->print("DRIFT");
+        port->printf("DRIFT");
         break;
     case SPORT:
-        port->print("SPORT");
+        port->printf("SPORT");
         break;
     case FLIP:
-        port->print("FLIP");
+        port->printf("FLIP");
         break;
     case AUTOTUNE:
-        port->print("AUTOTUNE");
+        port->printf("AUTOTUNE");
         break;
     case POSHOLD:
-        port->print("POSHOLD");
+        port->printf("POSHOLD");
         break;
     case BRAKE:
-        port->print("BRAKE");
+        port->printf("BRAKE");
         break;
     case THROW:
-        port->print("THROW");
+        port->printf("THROW");
         break;
     case AVOID_ADSB:
-        port->print("AVOID_ADSB");
+        port->printf("AVOID_ADSB");
         break;
     case GUIDED_NOGPS:
-        port->print("GUIDED_NOGPS");
+        port->printf("GUIDED_NOGPS");
         break;
     default:
         port->printf("Mode(%u)", (unsigned)mode);

ArduCopter/sensors.cpp

@@ -102,7 +102,7 @@ void Copter::init_compass()
 {
     if (!compass.init() || !compass.read()) {
         // make sure we don't pass a broken compass to DCM
-        cliSerial->println("COMPASS INIT ERROR");
+        cliSerial->printf("COMPASS INIT ERROR\n");
         Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
         return;
     }

ArduCopter/setup.cpp

@@ -69,7 +69,7 @@ int8_t Copter::setup_set(uint8_t argc, const Menu::arg *argv)
 
     if(argc!=3)
     {
-        cliSerial->println("Invalid command. Usage: set <name> <value>");
+        cliSerial->printf("Invalid command. Usage: set <name> <value>\n");
         return 0;
     }
 
@@ -178,7 +178,7 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
 	
     set_mask = strtol (argv[1].str, nullptr, 2);
 	if (set_mask == 0)
-		cliSerial->print("no channels chosen");
+		cliSerial->printf("no channels chosen");
     //cliSerial->printf("\n%d\n",set_mask);
     set_mask<<=1;
 	/* wait 50 ms */
@@ -224,7 +224,7 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
 	motors->armed(true);
 
 
-	cliSerial->println("Outputs armed");
+	cliSerial->printf("Outputs armed\n");
 
 
 	/* wait for user confirmation */
@@ -286,7 +286,7 @@ int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
 	/* disarm */
 	motors->armed(false);
     
-	cliSerial->println("Outputs disarmed");
+	cliSerial->printf("Outputs disarmed\n");
 
 	cliSerial->printf("%s finished\n", strEscCalib);
 
@@ -305,25 +305,25 @@ void Copter::report_batt_monitor()
     if (battery.num_instances() == 0) {
         print_enabled(false);
     } else if (!battery.has_current()) {
-        cliSerial->print("volts");
+        cliSerial->printf("volts");
     } else {
-        cliSerial->print("volts and cur");
+        cliSerial->printf("volts and cur");
     }
     print_blanks(2);
 }
 
 void Copter::report_frame()
 {
-    cliSerial->println("Frame");
+    cliSerial->printf("Frame\n");
     print_divider();
-    cliSerial->println(get_frame_string());
+    cliSerial->printf("%s\n", get_frame_string());
 
     print_blanks(2);
 }
 
 void Copter::report_radio()
 {
-    cliSerial->println("Radio");
+    cliSerial->printf("Radio\n");
     print_divider();
     // radio
     print_radio_values();
@@ -332,7 +332,7 @@ void Copter::report_radio()
 
 void Copter::report_ins()
 {
-    cliSerial->println("INS");
+    cliSerial->printf("INS\n");
     print_divider();
 
     print_gyro_offsets();
@@ -342,7 +342,7 @@ void Copter::report_ins()
 
 void Copter::report_flight_modes()
 {
-    cliSerial->println("Flight modes");
+    cliSerial->printf("Flight modes\n");
     print_divider();
 
     for(int16_t i = 0; i < 6; i++ ) {
@@ -354,7 +354,7 @@ void Copter::report_flight_modes()
 void Copter::report_optflow()
 {
  #if OPTFLOW == ENABLED
-    cliSerial->println("OptFlow");
+    cliSerial->printf("OptFlow\n");
     print_divider();
 
     print_enabled(optflow.enabled());
@@ -381,9 +381,9 @@ void Copter::print_switch(uint8_t p, uint8_t m, bool b)
     print_flight_mode(cliSerial, m);
     cliSerial->printf(",\t\tSimple: ");
     if(b)
-        cliSerial->println("ON");
+        cliSerial->printf("ON\n");
     else
-        cliSerial->println("OFF");
+        cliSerial->printf("OFF\n");
 }
 
 void Copter::print_accel_offsets_and_scaling(void)
@@ -413,7 +413,7 @@ void Copter::print_gyro_offsets(void)
 // report_compass - displays compass information.  Also called by compassmot.pde
 void Copter::report_compass()
 {
-    cliSerial->println("Compass");
+    cliSerial->printf("Compass\n");
     print_divider();
 
     print_enabled(g.compass_enabled);
@@ -435,15 +435,15 @@ void Copter::report_compass()
     }
 
     // motor compensation
-    cliSerial->print("Motor Comp: ");
+    cliSerial->printf("Motor Comp: ");
     if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_DISABLED ) {
-        cliSerial->println("Off");
+        cliSerial->printf("Off\n");
     }else{
         if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_THROTTLE ) {
-            cliSerial->print("Throttle");
+            cliSerial->printf("Throttle");
         }
         if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_CURRENT ) {
-            cliSerial->print("Current");
+            cliSerial->printf("Current");
         }
         Vector3f motor_compensation;
         for (uint8_t i=0; i<compass.get_count(); i++) {
@@ -462,25 +462,25 @@ void Copter::print_blanks(int16_t num)
 {
     while(num > 0) {
         num--;
-        cliSerial->println("");
+        cliSerial->printf("\n");
     }
 }
 
 void Copter::print_divider(void)
 {
     for (int i = 0; i < 40; i++) {
-        cliSerial->print("-");
+        cliSerial->printf("-");
     }
-    cliSerial->println();
+    cliSerial->printf("\n");
 }
 
 void Copter::print_enabled(bool b)
 {
     if(b)
-        cliSerial->print("en");
+        cliSerial->printf("en");
     else
-        cliSerial->print("dis");
+        cliSerial->printf("dis");
-    cliSerial->println("abled");
+    cliSerial->printf("abled\n");
 }
 
 void Copter::report_version()

ArduCopter/system.cpp

@@ -244,12 +244,12 @@ void Copter::init_ardupilot()
 #if CLI_ENABLED == ENABLED
     if (g.cli_enabled) {
         const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
-        cliSerial->println(msg);
+        cliSerial->printf("%s\n", msg);
         if (gcs[1].initialised && (gcs[1].get_uart() != nullptr)) {
-            gcs[1].get_uart()->println(msg);
+            gcs[1].get_uart()->printf("%s\n", msg);
         }
         if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != nullptr)) {
-            gcs[2].get_uart()->println(msg);
+            gcs[2].get_uart()->printf("%s\n", msg);
         }
     }
 #endif // CLI_ENABLED
@@ -307,7 +307,7 @@ void Copter::init_ardupilot()
     ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
     ins.set_dataflash(&DataFlash);
 
-    cliSerial->print("\nReady to FLY ");
+    cliSerial->printf("\nReady to FLY ");
 
     // flag that initialisation has completed
     ap.initialised = true;

ArduCopter/test.cpp

@@ -42,7 +42,7 @@ int8_t Copter::test_baro(uint8_t argc, const Menu::arg *argv)
         read_barometer();
 
         if (!barometer.healthy()) {
-            cliSerial->println("not healthy");
+            cliSerial->printf("not healthy\n");
         } else {
             cliSerial->printf("Alt: %0.2fm, Raw: %f Temperature: %.1f\n",
                                 (double)(baro_alt / 100.0f),
@@ -63,13 +63,13 @@ int8_t Copter::test_compass(uint8_t argc, const Menu::arg *argv)
     uint8_t medium_loopCounter = 0;
 
     if (!g.compass_enabled) {
-        cliSerial->print("Compass: ");
+        cliSerial->printf("Compass: ");
         print_enabled(false);
         return (0);
     }
 
     if (!compass.init()) {
-        cliSerial->println("Compass initialisation failed!");
+        cliSerial->printf("Compass initialisation failed!\n");
         return 0;
     }
 
@@ -125,7 +125,7 @@ int8_t Copter::test_compass(uint8_t argc, const Menu::arg *argv)
                                         (double)mag_ofs.y,
                                         (double)mag_ofs.z);
                 } else {
-                    cliSerial->println("compass not healthy");
+                    cliSerial->printf("compass not healthy\n");
                 }
                 counter=0;
             }
@@ -137,7 +137,7 @@ 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("saving offsets");
+    cliSerial->printf("saving offsets\n");
     compass.save_offsets();
     return (0);
 }
@@ -146,12 +146,12 @@ int8_t Copter::test_ins(uint8_t argc, const Menu::arg *argv)
 {
     Vector3f gyro, accel;
     print_hit_enter();
-    cliSerial->println("INS");
+    cliSerial->printf("INS\n");
     delay(1000);
 
     ahrs.init();
     ins.init(scheduler.get_loop_rate_hz());
-    cliSerial->println("...done");
+    cliSerial->printf("...done\n");
 
     delay(50);
 
@@ -195,7 +195,7 @@ int8_t Copter::test_optflow(uint8_t argc, const Menu::arg *argv)
             }
         }
     } else {
-        cliSerial->print("OptFlow: ");
+        cliSerial->printf("OptFlow: ");
         print_enabled(false);
     }
     return (0);
@@ -210,14 +210,14 @@ int8_t Copter::test_relay(uint8_t argc, const Menu::arg *argv)
     delay(1000);
 
     while(1) {
-        cliSerial->println("Relay on");
+        cliSerial->printf("Relay on\n");
         relay.on(0);
         delay(3000);
         if(cliSerial->available() > 0) {
             return (0);
         }
 
-        cliSerial->println("Relay off");
+        cliSerial->printf("Relay off\n");
         relay.off(0);
         delay(3000);
         if(cliSerial->available() > 0) {