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Rover: use send_text method on the GCS singleton

This commit is contained in:
Peter Barker 2017-07-09 11:40:59 +10:00 committed by Tom Pittenger
parent 5a8f01c19c
commit 9509f7f1bf
10 changed files with 36 additions and 59 deletions
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4
APMrover2/APMrover2.cpp
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@ -458,7 +458,7 @@ void Rover::update_current_mode(void)
break; break;
default: default:
gcs_send_text(MAV_SEVERITY_WARNING, "Unknown GUIDED mode"); gcs().send_text(MAV_SEVERITY_WARNING, "Unknown GUIDED mode");
break; break;
} }
break; break;
@ -566,7 +566,7 @@ void Rover::update_navigation()
break; break;
default: default:
gcs_send_text(MAV_SEVERITY_WARNING, "Unknown GUIDED mode"); gcs().send_text(MAV_SEVERITY_WARNING, "Unknown GUIDED mode");
break; break;
} }
break; break;

23
APMrover2/GCS_Mavlink.cpp
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@ -1584,7 +1584,7 @@ void Rover::mavlink_delay_cb()
} }
if (tnow - last_5s > 5000) { if (tnow - last_5s > 5000) {
last_5s = tnow; last_5s = tnow;
gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM"); gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
} }
check_usb_mux(); check_usb_mux();
@ -1624,27 +1624,6 @@ void Rover::gcs_update(void)
gcs().update(); gcs().update();
} }
void Rover::gcs_send_text(MAV_SEVERITY severity, const char *str)
{
gcs().send_statustext(severity, 0xFF, str);
}
/*
* send a low priority formatted message to the GCS
* only one fits in the queue, so if you send more than one before the
* last one gets into the serial buffer then the old one will be lost
*/
void Rover::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
{
char str[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] {};
va_list arg_list;
va_start(arg_list, fmt);
hal.util->vsnprintf(&str[0], sizeof(str), fmt, arg_list);
va_end(arg_list);
gcs().send_statustext(severity, 0xFF, str);
}
/** /**
retry any deferred messages retry any deferred messages
*/ */

2
APMrover2/Rover.h
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@ -455,7 +455,6 @@ private:
void gcs_send_mission_item_reached_message(uint16_t mission_index); void gcs_send_mission_item_reached_message(uint16_t mission_index);
void gcs_data_stream_send(void); void gcs_data_stream_send(void);
void gcs_update(void); void gcs_update(void);
void gcs_send_text(MAV_SEVERITY severity, const char *str);
void gcs_retry_deferred(void); void gcs_retry_deferred(void);
void do_erase_logs(void); void do_erase_logs(void);
@ -558,7 +557,6 @@ private:
uint8_t check_digital_pin(uint8_t pin); uint8_t check_digital_pin(uint8_t pin);
bool should_log(uint32_t mask); bool should_log(uint32_t mask);
void print_hit_enter(); void print_hit_enter();
void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
void print_mode(AP_HAL::BetterStream *port, uint8_t mode); void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
void notify_mode(enum mode new_mode); void notify_mode(enum mode new_mode);
bool start_command(const AP_Mission::Mission_Command& cmd); bool start_command(const AP_Mission::Mission_Command& cmd);

6
APMrover2/Steering.cpp
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@ -11,7 +11,7 @@ bool Rover::auto_check_trigger(void) {
// check for user pressing the auto trigger to off // 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) { if (auto_triggered && g.auto_trigger_pin != -1 && check_digital_pin(g.auto_trigger_pin) == 1) {
gcs_send_text(MAV_SEVERITY_WARNING, "AUTO triggered off"); gcs().send_text(MAV_SEVERITY_WARNING, "AUTO triggered off");
auto_triggered = false; auto_triggered = false;
return false; return false;
} }
@ -29,7 +29,7 @@ bool Rover::auto_check_trigger(void) {
} }
if (g.auto_trigger_pin != -1 && check_digital_pin(g.auto_trigger_pin) == 0) { if (g.auto_trigger_pin != -1 && check_digital_pin(g.auto_trigger_pin) == 0) {
gcs_send_text(MAV_SEVERITY_WARNING, "Triggered AUTO with pin"); gcs().send_text(MAV_SEVERITY_WARNING, "Triggered AUTO with pin");
auto_triggered = true; auto_triggered = true;
return true; return true;
} }
@ -37,7 +37,7 @@ bool Rover::auto_check_trigger(void) {
if (!is_zero(g.auto_kickstart)) { if (!is_zero(g.auto_kickstart)) {
const float xaccel = ins.get_accel().x; const float xaccel = ins.get_accel().x;
if (xaccel >= g.auto_kickstart) { if (xaccel >= g.auto_kickstart) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Triggered AUTO xaccel=%.1f", static_cast<double>(xaccel)); gcs().send_text(MAV_SEVERITY_WARNING, "Triggered AUTO xaccel=%.1f", static_cast<double>(xaccel));
auto_triggered = true; auto_triggered = true;
return true; return true;
} }

4
APMrover2/commands.cpp
View File

@ -18,7 +18,7 @@ void Rover::set_auto_WP(const struct Location& loc)
// location as the previous waypoint, to prevent immediately // location as the previous waypoint, to prevent immediately
// considering the waypoint complete // considering the waypoint complete
if (location_passed_point(current_loc, prev_WP, next_WP)) { if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Resetting previous WP"); gcs().send_text(MAV_SEVERITY_NOTICE, "Resetting previous WP");
prev_WP = current_loc; prev_WP = current_loc;
} }
@ -139,7 +139,7 @@ bool Rover::set_home(const Location& loc, bool lock)
GCS_MAVLINK::send_home_all(loc); GCS_MAVLINK::send_home_all(loc);
// send text of home position to ground stations // send text of home position to ground stations
rover.gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %.2fm", gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %.2fm",
static_cast<double>(loc.lat * 1.0e-7f), static_cast<double>(loc.lat * 1.0e-7f),
static_cast<double>(loc.lng * 1.0e-7f), static_cast<double>(loc.lng * 1.0e-7f),
static_cast<double>(loc.alt * 0.01f)); static_cast<double>(loc.alt * 0.01f));

28
APMrover2/commands_logic.cpp
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@ -15,7 +15,7 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
return false; return false;
} }
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing command ID #%i", cmd.id); gcs().send_text(MAV_SEVERITY_INFO, "Executing command ID #%i", cmd.id);
// remember the course of our next navigation leg // remember the course of our next navigation leg
next_navigation_leg_cd = mission.get_next_ground_course_cd(0); next_navigation_leg_cd = mission.get_next_ground_course_cd(0);
@ -131,7 +131,7 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
void Rover::exit_mission() void Rover::exit_mission()
{ {
if (control_mode == AUTO) { if (control_mode == AUTO) {
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "No commands. Can't set AUTO. Setting HOLD"); gcs().send_text(MAV_SEVERITY_NOTICE, "No commands. Can't set AUTO. Setting HOLD");
set_mode(HOLD); set_mode(HOLD);
} }
} }
@ -203,7 +203,7 @@ bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
default: default:
// error message // error message
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Skipping invalid cmd #%i", cmd.id); gcs().send_text(MAV_SEVERITY_WARNING, "Skipping invalid cmd #%i", cmd.id);
// return true if we do not recognize the command so that we move on to the next command // return true if we do not recognize the command so that we move on to the next command
return true; return true;
} }
@ -266,7 +266,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
if (loiter_duration > 0) { if (loiter_duration > 0) {
// Check if this is the first time we have reached the waypoint // Check if this is the first time we have reached the waypoint
if (!previously_reached_wp) { if (!previously_reached_wp) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%u. Loiter for %u seconds", gcs().send_text(MAV_SEVERITY_INFO, "Reached waypoint #%u. Loiter for %u seconds",
static_cast<uint32_t>(cmd.index), static_cast<uint32_t>(cmd.index),
static_cast<uint32_t>(loiter_duration)); static_cast<uint32_t>(loiter_duration));
// record the current time i.e. start timer // record the current time i.e. start timer
@ -281,7 +281,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
return false; return false;
} }
} else { } else {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%u. Distance %dm", gcs().send_text(MAV_SEVERITY_INFO, "Reached waypoint #%u. Distance %dm",
static_cast<uint32_t>(cmd.index), static_cast<uint32_t>(cmd.index),
static_cast<int32_t>(fabsf(get_distance(current_loc, next_WP)))); static_cast<int32_t>(fabsf(get_distance(current_loc, next_WP))));
} }
@ -301,7 +301,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
prev_WP = current_loc; prev_WP = current_loc;
// Check if this is the first time we have reached the waypoint even though we have gone past it // Check if this is the first time we have reached the waypoint even though we have gone past it
if (!previously_reached_wp) { if (!previously_reached_wp) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%u. Loiter for %u seconds", gcs().send_text(MAV_SEVERITY_INFO, "Reached waypoint #%u. Loiter for %u seconds",
static_cast<uint32_t>(cmd.index), static_cast<uint32_t>(cmd.index),
static_cast<uint32_t>(loiter_duration)); static_cast<uint32_t>(loiter_duration));
// record the current time i.e. start timer // record the current time i.e. start timer
@ -314,7 +314,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
const float dist_to_wp = get_distance(current_loc, next_WP); const float dist_to_wp = get_distance(current_loc, next_WP);
if (!is_equal(distance_past_wp, dist_to_wp)) { if (!is_equal(distance_past_wp, dist_to_wp)) {
distance_past_wp = dist_to_wp; distance_past_wp = dist_to_wp;
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed waypoint #%u. Distance %dm", gcs().send_text(MAV_SEVERITY_INFO, "Passed waypoint #%u. Distance %dm",
static_cast<uint32_t>(cmd.index), static_cast<uint32_t>(cmd.index),
static_cast<int32_t>(fabsf(distance_past_wp))); static_cast<int32_t>(fabsf(distance_past_wp)));
} }
@ -336,14 +336,14 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
bool Rover::verify_RTL() bool Rover::verify_RTL()
{ {
if (wp_distance <= g.waypoint_radius) { if (wp_distance <= g.waypoint_radius) {
gcs_send_text(MAV_SEVERITY_INFO, "Reached destination"); gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");
rtl_complete = true; rtl_complete = true;
return true; return true;
} }
// have we gone past the waypoint? // have we gone past the waypoint?
if (location_passed_point(current_loc, prev_WP, next_WP)) { if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached destination. Distance away %dm", gcs().send_text(MAV_SEVERITY_INFO, "Reached destination. Distance away %dm",
static_cast<int32_t>(fabsf(get_distance(current_loc, next_WP)))); static_cast<int32_t>(fabsf(get_distance(current_loc, next_WP))));
rtl_complete = true; rtl_complete = true;
return true; return true;
@ -365,7 +365,7 @@ bool Rover::verify_loiter_time(const AP_Mission::Mission_Command& cmd)
{ {
const bool result = verify_nav_wp(cmd); const bool result = verify_nav_wp(cmd);
if (result) { if (result) {
gcs_send_text(MAV_SEVERITY_WARNING, "Finished active loiter\n"); gcs().send_text(MAV_SEVERITY_WARNING, "Finished active loiter\n");
// if we have finished active loitering - turn it off // if we have finished active loitering - turn it off
active_loiter = false; active_loiter = false;
} }
@ -376,7 +376,7 @@ void Rover::nav_set_yaw_speed()
{ {
// if we haven't received a MAV_CMD_NAV_SET_YAW_SPEED message within the last 3 seconds bring the rover to a halt // if we haven't received a MAV_CMD_NAV_SET_YAW_SPEED message within the last 3 seconds bring the rover to a halt
if ((millis() - guided_control.msg_time_ms) > 3000) { if ((millis() - guided_control.msg_time_ms) > 3000) {
gcs_send_text(MAV_SEVERITY_WARNING, "NAV_SET_YAW_SPEED not recvd last 3secs, stopping"); gcs().send_text(MAV_SEVERITY_WARNING, "NAV_SET_YAW_SPEED not recvd last 3secs, stopping");
g2.motors.set_throttle(g.throttle_min.get()); g2.motors.set_throttle(g.throttle_min.get());
g2.motors.set_steering(0.0f); g2.motors.set_steering(0.0f);
lateral_acceleration = 0.0f; lateral_acceleration = 0.0f;
@ -399,7 +399,7 @@ void Rover::nav_set_speed()
{ {
// if we haven't received a MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED message within the last 3 seconds bring the rover to a halt // if we haven't received a MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED message within the last 3 seconds bring the rover to a halt
if ((millis() - guided_control.msg_time_ms) > 3000) { if ((millis() - guided_control.msg_time_ms) > 3000) {
gcs_send_text(MAV_SEVERITY_WARNING, "SET_VELOCITY not recvd last 3secs, stopping"); gcs().send_text(MAV_SEVERITY_WARNING, "SET_VELOCITY not recvd last 3secs, stopping");
g2.motors.set_throttle(g.throttle_min.get()); g2.motors.set_throttle(g.throttle_min.get());
g2.motors.set_steering(0.0f); g2.motors.set_steering(0.0f);
lateral_acceleration = 0.0f; lateral_acceleration = 0.0f;
@ -530,12 +530,12 @@ void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
{ {
if (cmd.content.speed.target_ms > 0.0f) { if (cmd.content.speed.target_ms > 0.0f) {
g.speed_cruise.set(cmd.content.speed.target_ms); g.speed_cruise.set(cmd.content.speed.target_ms);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise speed: %.1f m/s", static_cast<double>(g.speed_cruise.get())); gcs().send_text(MAV_SEVERITY_INFO, "Cruise speed: %.1f m/s", static_cast<double>(g.speed_cruise.get()));
} }
if (cmd.content.speed.throttle_pct > 0.0f && cmd.content.speed.throttle_pct <= 100.0f) { if (cmd.content.speed.throttle_pct > 0.0f && cmd.content.speed.throttle_pct <= 100.0f) {
g.throttle_cruise.set(cmd.content.speed.throttle_pct); g.throttle_cruise.set(cmd.content.speed.throttle_pct);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise throttle: %.1f", static_cast<double>(g.throttle_cruise.get())); gcs().send_text(MAV_SEVERITY_INFO, "Cruise throttle: %.1f", static_cast<double>(g.throttle_cruise.get()));
} }
} }

2
APMrover2/crash_check.cpp
View File

@ -36,7 +36,7 @@ void Rover::crash_check()
// log an error in the dataflash // log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH); Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
// send message to gcs // send message to gcs
gcs_send_text(MAV_SEVERITY_EMERGENCY, "Crash: Going to HOLD"); gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Going to HOLD");
// change mode to hold and disarm // change mode to hold and disarm
set_mode(HOLD); set_mode(HOLD);
if (g.fs_crash_check == FS_CRASH_HOLD_AND_DISARM) { if (g.fs_crash_check == FS_CRASH_HOLD_AND_DISARM) {

4
APMrover2/failsafe.cpp
View File

@ -66,7 +66,7 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
} }
if (failsafe.triggered != 0 && failsafe.bits == 0) { if (failsafe.triggered != 0 && failsafe.bits == 0) {
// a failsafe event has ended // a failsafe event has ended
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Failsafe ended"); gcs().send_text(MAV_SEVERITY_INFO, "Failsafe ended");
} }
failsafe.triggered &= failsafe.bits; failsafe.triggered &= failsafe.bits;
@ -77,7 +77,7 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
control_mode != RTL && control_mode != RTL &&
control_mode != HOLD) { control_mode != HOLD) {
failsafe.triggered = failsafe.bits; failsafe.triggered = failsafe.bits;
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Failsafe trigger 0x%x", static_cast<uint32_t>(failsafe.triggered)); gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe trigger 0x%x", static_cast<uint32_t>(failsafe.triggered));
switch (g.fs_action) { switch (g.fs_action) {
case 0: case 0:
break; break;

12
APMrover2/sensors.cpp
View File

@ -39,13 +39,13 @@ void Rover::compass_accumulate(void)
void Rover::init_barometer(bool full_calibration) void Rover::init_barometer(bool full_calibration)
{ {
gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer"); gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
if (full_calibration) { if (full_calibration) {
barometer.calibrate(); barometer.calibrate();
} else { } else {
barometer.update_calibration(); barometer.update_calibration();
} }
gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete"); gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
} }
void Rover::init_sonar(void) void Rover::init_sonar(void)
@ -148,7 +148,7 @@ void Rover::read_sonars(void)
obstacle.detected_count++; obstacle.detected_count++;
} }
if (obstacle.detected_count == g.sonar_debounce) { if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar1 obstacle %u cm", gcs().send_text(MAV_SEVERITY_INFO, "Sonar1 obstacle %u cm",
static_cast<uint32_t>(obstacle.sonar1_distance_cm)); static_cast<uint32_t>(obstacle.sonar1_distance_cm));
} }
obstacle.detected_time_ms = AP_HAL::millis(); obstacle.detected_time_ms = AP_HAL::millis();
@ -159,7 +159,7 @@ void Rover::read_sonars(void)
obstacle.detected_count++; obstacle.detected_count++;
} }
if (obstacle.detected_count == g.sonar_debounce) { if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar2 obstacle %u cm", gcs().send_text(MAV_SEVERITY_INFO, "Sonar2 obstacle %u cm",
static_cast<uint32_t>(obstacle.sonar2_distance_cm)); static_cast<uint32_t>(obstacle.sonar2_distance_cm));
} }
obstacle.detected_time_ms = AP_HAL::millis(); obstacle.detected_time_ms = AP_HAL::millis();
@ -175,7 +175,7 @@ void Rover::read_sonars(void)
obstacle.detected_count++; obstacle.detected_count++;
} }
if (obstacle.detected_count == g.sonar_debounce) { if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar obstacle %u cm", gcs().send_text(MAV_SEVERITY_INFO, "Sonar obstacle %u cm",
static_cast<uint32_t>(obstacle.sonar1_distance_cm)); static_cast<uint32_t>(obstacle.sonar1_distance_cm));
} }
obstacle.detected_time_ms = AP_HAL::millis(); obstacle.detected_time_ms = AP_HAL::millis();
@ -188,7 +188,7 @@ void Rover::read_sonars(void)
// no object detected - reset after the turn time // no object detected - reset after the turn time
if (obstacle.detected_count >= g.sonar_debounce && if (obstacle.detected_count >= g.sonar_debounce &&
AP_HAL::millis() > obstacle.detected_time_ms + g.sonar_turn_time*1000) { AP_HAL::millis() > obstacle.detected_time_ms + g.sonar_turn_time*1000) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Obstacle passed"); gcs().send_text(MAV_SEVERITY_INFO, "Obstacle passed");
obstacle.detected_count = 0; obstacle.detected_count = 0;
obstacle.turn_angle = 0; obstacle.turn_angle = 0;
} }

10
APMrover2/system.cpp
View File

@ -228,10 +228,10 @@ void Rover::startup_ground(void)
{ {
set_mode(INITIALISING); set_mode(INITIALISING);
gcs_send_text(MAV_SEVERITY_INFO, "<startup_ground> Ground start"); gcs().send_text(MAV_SEVERITY_INFO, "<startup_ground> Ground start");
#if(GROUND_START_DELAY > 0) #if(GROUND_START_DELAY > 0)
gcs_send_text(MAV_SEVERITY_NOTICE, "<startup_ground> With delay"); gcs().send_text(MAV_SEVERITY_NOTICE, "<startup_ground> With delay");
delay(GROUND_START_DELAY * 1000); delay(GROUND_START_DELAY * 1000);
#endif #endif
@ -258,7 +258,7 @@ void Rover::startup_ground(void)
// so set serial ports non-blocking once we are ready to drive // so set serial ports non-blocking once we are ready to drive
serial_manager.set_blocking_writes_all(false); serial_manager.set_blocking_writes_all(false);
gcs_send_text(MAV_SEVERITY_INFO, "Ready to drive"); gcs().send_text(MAV_SEVERITY_INFO, "Ready to drive");
} }
/* /*
@ -369,12 +369,12 @@ bool Rover::mavlink_set_mode(uint8_t mode)
void Rover::startup_INS_ground(void) void Rover::startup_INS_ground(void)
{ {
gcs_send_text(MAV_SEVERITY_INFO, "Warming up ADC"); gcs().send_text(MAV_SEVERITY_INFO, "Warming up ADC");
mavlink_delay(500); mavlink_delay(500);
// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!! // Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
// ----------------------- // -----------------------
gcs_send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle"); gcs().send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle");
mavlink_delay(1000); mavlink_delay(1000);
ahrs.init(); ahrs.init();