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AP_Baro: replace gcs().send_text with GCS_SEND_TEXT

This commit is contained in:
Peter Barker 2024-06-05 13:59:38 +10:00 committed by Tom Pittenger
parent 6ed84a955d
commit e75903d6fa
1 changed files with 6 additions and 12 deletions
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18
libraries/AP_Baro/AP_Baro.cpp
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@ -260,12 +260,6 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = {
// singleton instance // singleton instance
AP_Baro *AP_Baro::_singleton; AP_Baro *AP_Baro::_singleton;
#if HAL_GCS_ENABLED
#define BARO_SEND_TEXT(severity, format, args...) GCS_SEND_TEXT(severity, format, ##args)
#else
#define BARO_SEND_TEXT(severity, format, args...)
#endif
/* /*
AP_Baro constructor AP_Baro constructor
*/ */
@ -288,7 +282,7 @@ void AP_Baro::calibrate(bool save)
} }
if (hal.util->was_watchdog_reset()) { if (hal.util->was_watchdog_reset()) {
BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Baro: skipping calibration after WDG reset"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Baro: skipping calibration after WDG reset");
return; return;
} }
@ -300,12 +294,12 @@ void AP_Baro::calibrate(bool save)
#ifdef HAL_BARO_ALLOW_INIT_NO_BARO #ifdef HAL_BARO_ALLOW_INIT_NO_BARO
if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == nullptr) { if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == nullptr) {
BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Baro: no sensors found, skipping calibration"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Baro: no sensors found, skipping calibration");
return; return;
} }
#endif #endif
BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Calibrating barometer"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Calibrating barometer");
// reset the altitude offset when we calibrate. The altitude // reset the altitude offset when we calibrate. The altitude
// offset is supposed to be for within a flight // offset is supposed to be for within a flight
@ -364,7 +358,7 @@ void AP_Baro::calibrate(bool save)
uint8_t num_calibrated = 0; uint8_t num_calibrated = 0;
for (uint8_t i=0; i<_num_sensors; i++) { for (uint8_t i=0; i<_num_sensors; i++) {
if (sensors[i].calibrated) { if (sensors[i].calibrated) {
BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Barometer %u calibration complete", i+1); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Barometer %u calibration complete", i+1);
num_calibrated++; num_calibrated++;
} }
} }
@ -980,7 +974,7 @@ void AP_Baro::update_field_elevation(void)
} else { } else {
_field_elevation.set(_field_elevation_active); _field_elevation.set(_field_elevation_active);
_field_elevation.notify(); _field_elevation.notify();
BARO_SEND_TEXT(MAV_SEVERITY_ALERT, "Failed to Set Field Elevation: Armed"); GCS_SEND_TEXT(MAV_SEVERITY_ALERT, "Failed to Set Field Elevation: Armed");
} }
} }
} }
@ -988,7 +982,7 @@ void AP_Baro::update_field_elevation(void)
_field_elevation_last_ms = now_ms; _field_elevation_last_ms = now_ms;
AP::ahrs().resetHeightDatum(); AP::ahrs().resetHeightDatum();
update_calibration(); update_calibration();
BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Field Elevation Set: %.0fm", _field_elevation_active); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Field Elevation Set: %.0fm", _field_elevation_active);
} }
#endif #endif
} }