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Rover: print mode as string in logs

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This commit is contained in:
Andrew Tridgell 2013-04-20 15:18:42 +10:00
parent 02c3083f60
commit fb6b736c78
5 changed files with 18 additions and 12 deletions
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1
APMrover2/APMrover2.pde
View File

@ -120,6 +120,7 @@ static Parameters g;
// prototypes // prototypes
static void update_events(void); static void update_events(void);
void gcs_send_text_fmt(const prog_char_t *fmt, ...); void gcs_send_text_fmt(const prog_char_t *fmt, ...);
static void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// DataFlash // DataFlash

4
APMrover2/Log.pde
View File

@ -460,7 +460,9 @@ static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
DataFlash.LogReadProcess(log_num, start_page, end_page, DataFlash.LogReadProcess(log_num, start_page, end_page,
sizeof(log_structure)/sizeof(log_structure[0]), sizeof(log_structure)/sizeof(log_structure[0]),
log_structure, cliSerial); log_structure,
print_mode,
cliSerial);
} }
// start a new log // start a new log

3
APMrover2/setup.pde
View File

@ -634,7 +634,8 @@ static void
print_switch(uint8_t p, uint8_t m) print_switch(uint8_t p, uint8_t m)
{ {
cliSerial->printf_P(PSTR("Pos %d: "),p); cliSerial->printf_P(PSTR("Pos %d: "),p);
print_mode(m); print_mode(cliSerial, m);
cliSerial->println();
} }
static void static void

16
APMrover2/system.pde
View File

@ -511,29 +511,29 @@ uint16_t board_voltage(void)
} }
static void static void
print_mode(uint8_t mode) print_mode(AP_HAL::BetterStream *port, uint8_t mode)
{ {
switch (mode) { switch (mode) {
case MANUAL: case MANUAL:
cliSerial->println_P(PSTR("Manual")); port->print_P(PSTR("Manual"));
break; break;
case HOLD: case HOLD:
cliSerial->println_P(PSTR("HOLD")); port->print_P(PSTR("HOLD"));
break; break;
case LEARNING: case LEARNING:
cliSerial->println_P(PSTR("Learning")); port->print_P(PSTR("Learning"));
break; break;
case STEERING: case STEERING:
cliSerial->println_P(PSTR("Stearing")); port->print_P(PSTR("Stearing"));
break; break;
case AUTO: case AUTO:
cliSerial->println_P(PSTR("AUTO")); port->print_P(PSTR("AUTO"));
break; break;
case RTL: case RTL:
cliSerial->println_P(PSTR("RTL")); port->print_P(PSTR("RTL"));
break; break;
default: default:
cliSerial->println_P(PSTR("---")); port->printf_P(PSTR("Mode(%u)"), (unsigned)mode);
break; break;
} }
} }

6
APMrover2/test.pde
View File

@ -206,13 +206,15 @@ test_failsafe(uint8_t argc, const Menu::arg *argv)
if (oldSwitchPosition != readSwitch()){ if (oldSwitchPosition != readSwitch()){
cliSerial->printf_P(PSTR("CONTROL MODE CHANGED: ")); cliSerial->printf_P(PSTR("CONTROL MODE CHANGED: "));
print_mode(readSwitch()); print_mode(cliSerial, readSwitch());
cliSerial->println();
fail_test++; fail_test++;
} }
if (g.fs_throttle_enabled && g.channel_throttle.get_failsafe()){ if (g.fs_throttle_enabled && g.channel_throttle.get_failsafe()){
cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), g.channel_throttle.radio_in); cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), g.channel_throttle.radio_in);
print_mode(readSwitch()); print_mode(cliSerial, readSwitch());
cliSerial->println();
fail_test++; fail_test++;
} }