From c058fba5ac2f22c05ff8153522bb30f25a6b8444 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 9 Jul 2017 13:49:39 +1000 Subject: [PATCH] Plane: eliminate GCS_MAVLINK::send_statustext_all --- ArduPlane/ArduPlane.cpp | 2 +- ArduPlane/avoidance_adsb.cpp | 4 ++-- ArduPlane/quadplane.cpp | 28 ++++++++++++++-------------- ArduPlane/soaring.cpp | 10 +++++----- 4 files changed, 22 insertions(+), 22 deletions(-) diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp index 4276a116cf..1cc65b8c52 100644 --- a/ArduPlane/ArduPlane.cpp +++ b/ArduPlane/ArduPlane.cpp @@ -540,7 +540,7 @@ void Plane::handle_auto_mode(void) // this could happen if AP_Landing::restart_landing_sequence() returns false which would only happen if: // restart_landing_sequence() is called when not executing a NAV_LAND or there is no previous nav point set_mode(RTL, MODE_REASON_MISSION_END); - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Aircraft in auto without a running mission"); + gcs().send_text(MAV_SEVERITY_INFO, "Aircraft in auto without a running mission"); return; } diff --git a/ArduPlane/avoidance_adsb.cpp b/ArduPlane/avoidance_adsb.cpp index 33dcb6199e..155b6008d2 100644 --- a/ArduPlane/avoidance_adsb.cpp +++ b/ArduPlane/avoidance_adsb.cpp @@ -90,7 +90,7 @@ MAV_COLLISION_ACTION AP_Avoidance_Plane::handle_avoidance(const AP_Avoidance::Ob } if (failsafe_state_change) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_ALERT, "Avoid: Performing action: %d", actual_action); + gcs().send_text(MAV_SEVERITY_ALERT, "Avoid: Performing action: %d", actual_action); } // return with action taken @@ -102,7 +102,7 @@ void AP_Avoidance_Plane::handle_recovery(uint8_t recovery_action) // check we are coming out of failsafe if (plane.failsafe.adsb) { plane.failsafe.adsb = false; - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Avoid: Resuming with action: %d", recovery_action); + gcs().send_text(MAV_SEVERITY_INFO, "Avoid: Resuming with action: %d", recovery_action); // restore flight mode if requested and user has not changed mode since if (plane.control_mode_reason == MODE_REASON_AVOIDANCE) { diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index dd9fb39828..a01c72c074 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -488,7 +488,7 @@ bool QuadPlane::setup(void) if (hal.util->available_memory() < 4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav)) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Not enough memory for quadplane"); + gcs().send_text(MAV_SEVERITY_INFO, "Not enough memory for quadplane"); goto failed; } @@ -609,14 +609,14 @@ bool QuadPlane::setup(void) setup_defaults(); - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "QuadPlane initialised"); + gcs().send_text(MAV_SEVERITY_INFO, "QuadPlane initialised"); initialised = true; return true; failed: initialised = false; enable.set(0); - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "QuadPlane setup failed"); + gcs().send_text(MAV_SEVERITY_INFO, "QuadPlane setup failed"); return false; } @@ -627,7 +627,7 @@ void QuadPlane::setup_defaults_table(const struct defaults_struct *table, uint8_ { for (uint8_t i=0; i 2000) { // set alt target to current height on transition. This // starts the Z controller off with the right values - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Reset alt target to %.1f", (double)inertial_nav.get_altitude()); + gcs().send_text(MAV_SEVERITY_INFO, "Reset alt target to %.1f", (double)inertial_nav.get_altitude()); pos_control->set_alt_target(inertial_nav.get_altitude()); pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z()); @@ -792,7 +792,7 @@ void QuadPlane::check_yaw_reset(void) if (new_ekfYawReset_ms != ekfYawReset_ms) { attitude_control->shift_ef_yaw_target(degrees(yaw_angle_change_rad) * 100); ekfYawReset_ms = new_ekfYawReset_ms; - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "EKF yaw reset %.2f", (double)degrees(yaw_angle_change_rad)); + gcs().send_text(MAV_SEVERITY_INFO, "EKF yaw reset %.2f", (double)degrees(yaw_angle_change_rad)); } } @@ -1156,7 +1156,7 @@ bool QuadPlane::assistance_needed(float aspeed) bool ret = (AP_HAL::millis() - angle_error_start_ms) >= 1000U; if (ret && !in_angle_assist) { in_angle_assist = true; - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Angle assist r=%d p=%d", + gcs().send_text(MAV_SEVERITY_INFO, "Angle assist r=%d p=%d", (int)(ahrs.roll_sensor/100), (int)(ahrs.pitch_sensor/100)); } @@ -1195,7 +1195,7 @@ void QuadPlane::update_transition(void) plane.is_flying())) { // the quad should provide some assistance to the plane if (transition_state != TRANSITION_AIRSPEED_WAIT) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition started airspeed %.1f", (double)aspeed); + gcs().send_text(MAV_SEVERITY_INFO, "Transition started airspeed %.1f", (double)aspeed); } transition_state = TRANSITION_AIRSPEED_WAIT; transition_start_ms = millis(); @@ -1207,7 +1207,7 @@ void QuadPlane::update_transition(void) if (is_tailsitter()) { if (transition_state == TRANSITION_ANGLE_WAIT && tailsitter_transition_complete()) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition done"); + gcs().send_text(MAV_SEVERITY_INFO, "Transition done"); transition_state = TRANSITION_DONE; } } @@ -1240,14 +1240,14 @@ void QuadPlane::update_transition(void) motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); // we hold in hover until the required airspeed is reached if (transition_start_ms == 0) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition airspeed wait"); + gcs().send_text(MAV_SEVERITY_INFO, "Transition airspeed wait"); transition_start_ms = millis(); } if (have_airspeed && aspeed > plane.aparm.airspeed_min && !assisted_flight) { transition_start_ms = millis(); transition_state = TRANSITION_TIMER; - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition airspeed reached %.1f", (double)aspeed); + gcs().send_text(MAV_SEVERITY_INFO, "Transition airspeed reached %.1f", (double)aspeed); } assisted_flight = true; hold_hover(assist_climb_rate_cms()); @@ -1272,7 +1272,7 @@ void QuadPlane::update_transition(void) // transition time, but continue to stabilize if (millis() - transition_start_ms > (unsigned)transition_time_ms) { transition_state = TRANSITION_DONE; - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition done"); + gcs().send_text(MAV_SEVERITY_INFO, "Transition done"); } float trans_time_ms = (float)transition_time_ms.get(); float transition_scale = (trans_time_ms - (millis() - transition_start_ms)) / trans_time_ms; @@ -1511,7 +1511,7 @@ bool QuadPlane::init_mode(void) return false; } if (!initialised) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "QuadPlane mode refused"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "QuadPlane mode refused"); return false; } diff --git a/ArduPlane/soaring.cpp b/ArduPlane/soaring.cpp index c208c9f7bd..beb42945d1 100644 --- a/ArduPlane/soaring.cpp +++ b/ArduPlane/soaring.cpp @@ -21,7 +21,7 @@ void Plane::update_soaring() { case FLY_BY_WIRE_B: case CRUISE: if (!g2.soaring_controller.suppress_throttle()) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Soaring: forcing RTL"); + gcs().send_text(MAV_SEVERITY_INFO, "Soaring: forcing RTL"); set_mode(RTL, MODE_REASON_SOARING_FBW_B_WITH_MOTOR_RUNNING); } break; @@ -48,7 +48,7 @@ void Plane::update_soaring() { g2.soaring_controller.update_cruising(); if (g2.soaring_controller.check_thermal_criteria()) { - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Soaring: Thermal detected, entering loiter"); + gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Thermal detected, entering loiter"); set_mode(LOITER, MODE_REASON_SOARING_THERMAL_DETECTED); } break; @@ -61,14 +61,14 @@ void Plane::update_soaring() { // Exit as soon as thermal state estimate deteriorates switch (previous_mode) { case FLY_BY_WIRE_B: - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Soaring: Thermal ended, entering RTL"); + gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Thermal ended, entering RTL"); set_mode(RTL, MODE_REASON_SOARING_THERMAL_ESTIMATE_DETERIORATED); break; case CRUISE: { // return to cruise with old ground course CruiseState cruise = cruise_state; - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Soaring: Thermal ended, restoring CRUISE"); + gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Thermal ended, restoring CRUISE"); set_mode(CRUISE, MODE_REASON_SOARING_THERMAL_ESTIMATE_DETERIORATED); cruise_state = cruise; set_target_altitude_current(); @@ -76,7 +76,7 @@ void Plane::update_soaring() { } case AUTO: - GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Soaring: Thermal ended, restoring AUTO"); + gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Thermal ended, restoring AUTO"); set_mode(AUTO, MODE_REASON_SOARING_THERMAL_ESTIMATE_DETERIORATED); break;