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AP_IceEngine: eliminate GCS_MAVLINK::send_statustext_all

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This commit is contained in:
Peter Barker 2017-07-09 14:12:27 +10:00 committed by Francisco Ferreira
parent 76847a2487
commit 1beb1550ae
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_ICEngine/AP_ICEngine.cpp
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@ -157,7 +157,7 @@ void AP_ICEngine::update(void)
height_pending = false;
initial_height = -pos.z;
} else if ((-pos.z) >= initial_height + height_required) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Starting height reached %.1f",
gcs().send_text(MAV_SEVERITY_INFO, "Starting height reached %.1f",
(double)(-pos.z - initial_height));
state = ICE_STARTING;
}
@ -169,7 +169,7 @@ void AP_ICEngine::update(void)
if (!should_run) {
state = ICE_OFF;
} else if (now - starter_last_run_ms >= starter_delay*1000) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Starting engine");
gcs().send_text(MAV_SEVERITY_INFO, "Starting engine");
state = ICE_STARTING;
}
break;
@ -185,7 +185,7 @@ void AP_ICEngine::update(void)
case ICE_RUNNING:
if (!should_run) {
state = ICE_OFF;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Stopped engine");
gcs().send_text(MAV_SEVERITY_INFO, "Stopped engine");
} else if (rpm_instance > 0) {
// check RPM to see if still running
if (!rpm.healthy(rpm_instance-1) ||
@ -272,7 +272,7 @@ bool AP_ICEngine::engine_control(float start_control, float cold_start, float he
if (start_chan != 0) {
// get starter control channel
if (hal.rcin->read(start_chan-1) <= 1300) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Engine: start control disabled");
gcs().send_text(MAV_SEVERITY_INFO, "Engine: start control disabled");
return false;
}
}
@ -281,7 +281,7 @@ bool AP_ICEngine::engine_control(float start_control, float cold_start, float he
initial_height = 0;
height_required = height_delay;
state = ICE_START_HEIGHT_DELAY;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Takeoff height set to %.1fm", (double)height_delay);
gcs().send_text(MAV_SEVERITY_INFO, "Takeoff height set to %.1fm", (double)height_delay);
return true;
}
state = ICE_STARTING;