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AP_Mission: allow more libraries to compile with no HAL_GCS_ENABLED

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Peter Barker 2023-09-02 15:21:35 +10:00 committed by Peter Barker
parent e7b717167b
commit dd2ce88152
2 changed files with 13 additions and 13 deletions
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20
libraries/AP_Mission/AP_Mission.cpp
View File

@ -89,7 +89,7 @@ void AP_Mission::init()
// If Mission Clear bit is set then it should clear the mission, otherwise retain the mission. // If Mission Clear bit is set then it should clear the mission, otherwise retain the mission.
if (AP_MISSION_MASK_MISSION_CLEAR & _options) { if (AP_MISSION_MASK_MISSION_CLEAR & _options) {
gcs().send_text(MAV_SEVERITY_INFO, "Clearing Mission"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Clearing Mission");
clear(); clear();
} }
@ -398,9 +398,9 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
} }
if (cmd.id == MAV_CMD_DO_JUMP || cmd.id == MAV_CMD_JUMP_TAG || cmd.id == MAV_CMD_DO_JUMP_TAG) { if (cmd.id == MAV_CMD_DO_JUMP || cmd.id == MAV_CMD_JUMP_TAG || cmd.id == MAV_CMD_DO_JUMP_TAG) {
gcs().send_text(MAV_SEVERITY_INFO, "Mission: %u %s %u", cmd.index, cmd.type(), (unsigned)cmd.p1); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: %u %s %u", cmd.index, cmd.type(), (unsigned)cmd.p1);
} else { } else {
gcs().send_text(MAV_SEVERITY_INFO, "Mission: %u %s", cmd.index, cmd.type()); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: %u %s", cmd.index, cmd.type());
} }
switch (cmd.id) { switch (cmd.id) {
@ -1978,7 +1978,7 @@ bool AP_Mission::advance_current_nav_cmd(uint16_t starting_index)
// check if the vehicle is resuming and has returned to where it was interrupted // check if the vehicle is resuming and has returned to where it was interrupted
if (_flags.resuming_mission && _nav_cmd.index == _wp_index_history[AP_MISSION_MAX_WP_HISTORY-1]) { if (_flags.resuming_mission && _nav_cmd.index == _wp_index_history[AP_MISSION_MAX_WP_HISTORY-1]) {
// vehicle has resumed previous position // vehicle has resumed previous position
gcs().send_text(MAV_SEVERITY_INFO, "Mission: Returned to interrupted WP"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: Returned to interrupted WP");
_flags.resuming_mission = false; _flags.resuming_mission = false;
} }
@ -2245,7 +2245,7 @@ void AP_Mission::increment_jump_times_run(Mission_Command& cmd, bool send_gcs_ms
if (_jump_tracking[i].index == cmd.index) { if (_jump_tracking[i].index == cmd.index) {
_jump_tracking[i].num_times_run++; _jump_tracking[i].num_times_run++;
if (send_gcs_msg) { if (send_gcs_msg) {
gcs().send_text(MAV_SEVERITY_INFO, "Mission: %u Jump %i/%i", _jump_tracking[i].index, _jump_tracking[i].num_times_run, cmd.content.jump.num_times); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: %u Jump %i/%i", _jump_tracking[i].index, _jump_tracking[i].num_times_run, cmd.content.jump.num_times);
} }
return; return;
} else if (_jump_tracking[i].index == AP_MISSION_CMD_INDEX_NONE) { } else if (_jump_tracking[i].index == AP_MISSION_CMD_INDEX_NONE) {
@ -2340,12 +2340,12 @@ bool AP_Mission::jump_to_landing_sequence(void)
resume(); resume();
} }
gcs().send_text(MAV_SEVERITY_INFO, "Landing sequence start"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Landing sequence start");
_flags.in_landing_sequence = true; _flags.in_landing_sequence = true;
return true; return true;
} }
gcs().send_text(MAV_SEVERITY_WARNING, "Unable to start landing sequence"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Unable to start landing sequence");
return false; return false;
} }
@ -2386,11 +2386,11 @@ bool AP_Mission::jump_to_abort_landing_sequence(void)
_flags.in_landing_sequence = false; _flags.in_landing_sequence = false;
gcs().send_text(MAV_SEVERITY_INFO, "Landing abort sequence start"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Landing abort sequence start");
return true; return true;
} }
gcs().send_text(MAV_SEVERITY_WARNING, "Unable to start find a landing abort sequence"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Unable to start find a landing abort sequence");
return false; return false;
} }
@ -2448,7 +2448,7 @@ bool AP_Mission::is_best_land_sequence(void)
// compare distances // compare distances
if (dist_via_do_land >= dist_continue_to_land) { if (dist_via_do_land >= dist_continue_to_land) {
// then the mission should carry on uninterrupted as that is the shorter distance // then the mission should carry on uninterrupted as that is the shorter distance
gcs().send_text(MAV_SEVERITY_NOTICE, "Rejecting RTL: closer land if mis continued"); GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Rejecting RTL: closer land if mis continued");
return true; return true;
} else { } else {
// allow failsafes to interrupt the current mission // allow failsafes to interrupt the current mission

6
libraries/AP_Mission/AP_Mission_Commands.cpp
View File

@ -43,12 +43,12 @@ bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd
case GRIPPER_ACTION_RELEASE: case GRIPPER_ACTION_RELEASE:
gripper->release(); gripper->release();
// Log_Write_Event(DATA_GRIPPER_RELEASE); // Log_Write_Event(DATA_GRIPPER_RELEASE);
gcs().send_text(MAV_SEVERITY_INFO, "Gripper Released"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper Released");
return true; return true;
case GRIPPER_ACTION_GRAB: case GRIPPER_ACTION_GRAB:
gripper->grab(); gripper->grab();
// Log_Write_Event(DATA_GRIPPER_GRAB); // Log_Write_Event(DATA_GRIPPER_GRAB);
gcs().send_text(MAV_SEVERITY_INFO, "Gripper Grabbed"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper Grabbed");
return true; return true;
default: default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@ -220,7 +220,7 @@ bool AP_Mission::start_command_parachute(const AP_Mission::Mission_Command& cmd)
bool AP_Mission::command_do_set_repeat_dist(const AP_Mission::Mission_Command& cmd) bool AP_Mission::command_do_set_repeat_dist(const AP_Mission::Mission_Command& cmd)
{ {
_repeat_dist = cmd.p1; _repeat_dist = cmd.p1;
gcs().send_text(MAV_SEVERITY_INFO, "Resume repeat dist set to %u m",_repeat_dist); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Resume repeat dist set to %u m",_repeat_dist);
return true; return true;
} }