aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Sub: use send_text method on the GCS singleton

Browse Source
This commit is contained in:
Peter Barker 2017-07-09 11:51:41 +10:00 committed by Tom Pittenger
parent 9509f7f1bf
commit 279072cf25
14 changed files with 40 additions and 62 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduSub/AP_Arming_Sub.cpp
View File

@ -37,7 +37,7 @@ bool AP_Arming_Sub::rc_check(bool report)
} }
if (report && !ret) { if (report && !ret) {
sub.gcs_send_text(MAV_SEVERITY_CRITICAL, message_fail); gcs().send_text(MAV_SEVERITY_CRITICAL, message_fail);
} }
return ret; return ret;

2
ArduSub/ArduSub.cpp
View File

@ -107,7 +107,7 @@ void Sub::perf_update(void)
Log_Write_Performance(); Log_Write_Performance();
} }
if (scheduler.debug()) { if (scheduler.debug()) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "PERF: %u/%u %lu %lu", gcs().send_text(MAV_SEVERITY_WARNING, "PERF: %u/%u %lu %lu",
(unsigned)perf_info_get_num_long_running(), (unsigned)perf_info_get_num_long_running(),
(unsigned)perf_info_get_num_loops(), (unsigned)perf_info_get_num_loops(),
(unsigned long)perf_info_get_max_time(), (unsigned long)perf_info_get_max_time(),

26
ArduSub/GCS_Mavlink.cpp
View File

@ -1075,7 +1075,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
case MAV_CMD_PREFLIGHT_STORAGE: case MAV_CMD_PREFLIGHT_STORAGE:
if (is_equal(packet.param1, 2.0f)) { if (is_equal(packet.param1, 2.0f)) {
AP_Param::erase_all(); AP_Param::erase_all();
sub.gcs_send_text(MAV_SEVERITY_WARNING, "All parameters reset, reboot board"); gcs().send_text(MAV_SEVERITY_WARNING, "All parameters reset, reboot board");
result= MAV_RESULT_ACCEPTED; result= MAV_RESULT_ACCEPTED;
} }
break; break;
@ -1264,7 +1264,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
} else if (is_equal(packet.param6,1.0f)) { } else if (is_equal(packet.param6,1.0f)) {
// compassmot calibration // compassmot calibration
//result = sub.mavlink_compassmot(chan); //result = sub.mavlink_compassmot(chan);
sub.gcs_send_text(MAV_SEVERITY_INFO, "#CompassMot calibration not supported"); gcs().send_text(MAV_SEVERITY_INFO, "#CompassMot calibration not supported");
result = MAV_RESULT_UNSUPPORTED; result = MAV_RESULT_UNSUPPORTED;
} }
break; break;
@ -1826,7 +1826,7 @@ void Sub::mavlink_delay_cb()
} }
if (tnow - last_5s > 5000) { if (tnow - last_5s > 5000) {
last_5s = tnow; last_5s = tnow;
gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM"); gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
} }
DataFlash.EnableWrites(true); DataFlash.EnableWrites(true);
@ -1864,23 +1864,3 @@ void Sub::gcs_check_input(void)
{ {
gcs().update(); gcs().update();
} }
void Sub::gcs_send_text(MAV_SEVERITY severity, const char *str)
{
gcs().send_statustext(severity, 0xFF, str);
}
/*
* send a low priority formatted message to the GCS
* only one fits in the queue, so if you send more than one before the
* last one gets into the serial buffer then the old one will be lost
*/
void Sub::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
{
char str[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] {};
va_list arg_list;
va_start(arg_list, fmt);
va_end(arg_list);
hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
gcs().send_statustext(severity, 0xFF, str);
}

4
ArduSub/Log.cpp
View File

@ -8,9 +8,9 @@
void Sub::do_erase_logs(void) void Sub::do_erase_logs(void)
{ {
gcs_send_text(MAV_SEVERITY_INFO, "Erasing logs"); gcs().send_text(MAV_SEVERITY_INFO, "Erasing logs");
DataFlash.EraseAll(); DataFlash.EraseAll();
gcs_send_text(MAV_SEVERITY_INFO, "Log erase complete"); gcs().send_text(MAV_SEVERITY_INFO, "Log erase complete");
} }
// Write a Current data packet // Write a Current data packet

2
ArduSub/Sub.h
View File

@ -497,7 +497,6 @@ private:
void gcs_send_mission_item_reached_message(uint16_t mission_index); void gcs_send_mission_item_reached_message(uint16_t mission_index);
void gcs_data_stream_send(void); void gcs_data_stream_send(void);
void gcs_check_input(void); void gcs_check_input(void);
void gcs_send_text(MAV_SEVERITY severity, const char *str);
void do_erase_logs(void); void do_erase_logs(void);
void Log_Write_Current(); void Log_Write_Current();
void Log_Write_Optflow(); void Log_Write_Optflow();
@ -666,7 +665,6 @@ private:
bool ekf_position_ok(); bool ekf_position_ok();
bool optflow_position_ok(); bool optflow_position_ok();
bool should_log(uint32_t mask); bool should_log(uint32_t mask);
void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
bool start_command(const AP_Mission::Mission_Command& cmd); bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd); bool verify_command(const AP_Mission::Mission_Command& cmd);
bool verify_command_callback(const AP_Mission::Mission_Command& cmd); bool verify_command_callback(const AP_Mission::Mission_Command& cmd);

12
ArduSub/commands_logic.cpp
View File

@ -14,13 +14,13 @@ bool Sub::start_command(const AP_Mission::Mission_Command& cmd)
// target alt must be negative (underwater) // target alt must be negative (underwater)
if (target_loc.alt > 0.0f) { if (target_loc.alt > 0.0f) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "BAD NAV ALT %0.2f", (double)target_loc.alt); gcs().send_text(MAV_SEVERITY_WARNING, "BAD NAV ALT %0.2f", (double)target_loc.alt);
return true; return true;
} }
// only tested/supported alt frame so far is ALT_FRAME_ABOVE_HOME, where Home alt is always water's surface ie zero depth // only tested/supported alt frame so far is ALT_FRAME_ABOVE_HOME, where Home alt is always water's surface ie zero depth
if (target_loc.get_alt_frame() != Location_Class::ALT_FRAME_ABOVE_HOME) { if (target_loc.get_alt_frame() != Location_Class::ALT_FRAME_ABOVE_HOME) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "BAD NAV ALT_FRAME %d", (int8_t)target_loc.get_alt_frame()); gcs().send_text(MAV_SEVERITY_WARNING, "BAD NAV ALT_FRAME %d", (int8_t)target_loc.get_alt_frame());
return true; return true;
} }
@ -248,7 +248,7 @@ bool Sub::verify_command(const AP_Mission::Mission_Command& cmd)
default: default:
// error message // error message
gcs_send_text_fmt(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id); gcs().send_text(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
// return true if we do not recognize the command so that we move on to the next command // return true if we do not recognize the command so that we move on to the next command
return true; return true;
} }
@ -528,7 +528,7 @@ void Sub::do_nav_delay(const AP_Mission::Mission_Command& cmd)
// absolute delay to utc time // absolute delay to utc time
nav_delay_time_max = hal.util->get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0); nav_delay_time_max = hal.util->get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
} }
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000)); gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000));
} }
#if GRIPPER_ENABLED == ENABLED #if GRIPPER_ENABLED == ENABLED
@ -585,7 +585,7 @@ bool Sub::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// check if timer has run out // check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) { if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index); gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true; return true;
} else { } else {
return false; return false;
@ -700,7 +700,7 @@ bool Sub::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
// check if timer has run out // check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) { if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index); gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true; return true;
} else { } else {
return false; return false;

2
ArduSub/control_althold.cpp
View File

@ -10,7 +10,7 @@ bool Sub::althold_init()
{ {
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL #if CONFIG_HAL_BOARD != HAL_BOARD_SITL
if (!ap.depth_sensor_present || failsafe.sensor_health) { // can't hold depth without a depth sensor, exit immediately. if (!ap.depth_sensor_present || failsafe.sensor_health) { // can't hold depth without a depth sensor, exit immediately.
gcs_send_text(MAV_SEVERITY_WARNING, "BAD DEPTH"); gcs().send_text(MAV_SEVERITY_WARNING, "BAD DEPTH");
return false; return false;
} }
#endif #endif

8
ArduSub/control_auto.cpp
View File

@ -659,7 +659,7 @@ bool Sub::auto_terrain_recover_start()
pos_control.set_alt_target(inertial_nav.get_altitude()); pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z()); pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
gcs_send_text(MAV_SEVERITY_WARNING, "Attempting auto failsafe recovery"); gcs().send_text(MAV_SEVERITY_WARNING, "Attempting auto failsafe recovery");
return true; return true;
} }
@ -704,7 +704,7 @@ void Sub::auto_terrain_recover_run()
// 1.5 seconds of healthy rangefinder means we can resume mission with terrain enabled // 1.5 seconds of healthy rangefinder means we can resume mission with terrain enabled
if (AP_HAL::millis() > rangefinder_recovery_ms + 1500) { if (AP_HAL::millis() > rangefinder_recovery_ms + 1500) {
gcs_send_text(MAV_SEVERITY_INFO, "Terrain failsafe recovery successful!"); gcs().send_text(MAV_SEVERITY_INFO, "Terrain failsafe recovery successful!");
failsafe_terrain_set_status(true); // Reset failsafe timers failsafe_terrain_set_status(true); // Reset failsafe timers
failsafe.terrain = false; // Clear flag failsafe.terrain = false; // Clear flag
auto_mode = Auto_Loiter; // Switch back to loiter for next iteration auto_mode = Auto_Loiter; // Switch back to loiter for next iteration
@ -719,7 +719,7 @@ void Sub::auto_terrain_recover_run()
default: default:
// Terrain failsafe recovery has failed, terrain data is not available // Terrain failsafe recovery has failed, terrain data is not available
// and rangefinder is not connected, or has stopped responding // and rangefinder is not connected, or has stopped responding
gcs_send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery failure: No Rangefinder!"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery failure: No Rangefinder!");
failsafe_terrain_act(); failsafe_terrain_act();
rangefinder_recovery_ms = 0; rangefinder_recovery_ms = 0;
return; return;
@ -728,7 +728,7 @@ void Sub::auto_terrain_recover_run()
// exit on failure (timeout) // exit on failure (timeout)
if (AP_HAL::millis() > fs_terrain_recover_start_ms + FS_TERRAIN_RECOVER_TIMEOUT_MS) { if (AP_HAL::millis() > fs_terrain_recover_start_ms + FS_TERRAIN_RECOVER_TIMEOUT_MS) {
// Recovery has failed, revert to failsafe action // Recovery has failed, revert to failsafe action
gcs_send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery timeout!"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery timeout!");
failsafe_terrain_act(); failsafe_terrain_act();
} }

2
ArduSub/control_surface.cpp
View File

@ -5,7 +5,7 @@ bool Sub::surface_init()
{ {
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL #if CONFIG_HAL_BOARD != HAL_BOARD_SITL
if (!ap.depth_sensor_present || failsafe.sensor_health) { // can't hold depth without a depth sensor, exit immediately. if (!ap.depth_sensor_present || failsafe.sensor_health) { // can't hold depth without a depth sensor, exit immediately.
gcs_send_text(MAV_SEVERITY_WARNING, "BAD DEPTH"); gcs().send_text(MAV_SEVERITY_WARNING, "BAD DEPTH");
return false; return false;
} }
#endif #endif

20
ArduSub/failsafe.cpp
View File

@ -82,7 +82,7 @@ void Sub::failsafe_sensors_check(void)
} }
failsafe.sensor_health = true; failsafe.sensor_health = true;
gcs_send_text(MAV_SEVERITY_CRITICAL, "Depth sensor error!"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Depth sensor error!");
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_SENSORS, ERROR_CODE_BAD_DEPTH); Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_SENSORS, ERROR_CODE_BAD_DEPTH);
if (control_mode == ALT_HOLD || control_mode == SURFACE || mode_requires_GPS(control_mode)) { if (control_mode == ALT_HOLD || control_mode == SURFACE || mode_requires_GPS(control_mode)) {
@ -139,7 +139,7 @@ void Sub::failsafe_ekf_check(void)
if (AP_HAL::millis() > failsafe.last_ekf_warn_ms + 20000) { if (AP_HAL::millis() > failsafe.last_ekf_warn_ms + 20000) {
failsafe.last_ekf_warn_ms = AP_HAL::millis(); failsafe.last_ekf_warn_ms = AP_HAL::millis();
gcs_send_text(MAV_SEVERITY_WARNING, "EKF bad"); gcs().send_text(MAV_SEVERITY_WARNING, "EKF bad");
} }
if (g.fs_ekf_action == FS_EKF_ACTION_DISARM) { if (g.fs_ekf_action == FS_EKF_ACTION_DISARM) {
@ -167,7 +167,7 @@ void Sub::failsafe_battery_check(void)
// Always warn when failsafe condition is met // Always warn when failsafe condition is met
if (AP_HAL::millis() > failsafe.last_battery_warn_ms + 20000) { if (AP_HAL::millis() > failsafe.last_battery_warn_ms + 20000) {
failsafe.last_battery_warn_ms = AP_HAL::millis(); failsafe.last_battery_warn_ms = AP_HAL::millis();
gcs_send_text(MAV_SEVERITY_WARNING, "Low battery"); gcs().send_text(MAV_SEVERITY_WARNING, "Low battery");
} }
// Don't do anything if failsafe has already been set // Don't do anything if failsafe has already been set
@ -214,7 +214,7 @@ void Sub::failsafe_pilot_input_check()
failsafe.pilot_input = true; failsafe.pilot_input = true;
Log_Write_Error(ERROR_SUBSYSTEM_INPUT, ERROR_CODE_FAILSAFE_OCCURRED); Log_Write_Error(ERROR_SUBSYSTEM_INPUT, ERROR_CODE_FAILSAFE_OCCURRED);
gcs_send_text(MAV_SEVERITY_CRITICAL, "Lost manual control"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Lost manual control");
if(g.failsafe_pilot_input == FS_PILOT_INPUT_DISARM) { if(g.failsafe_pilot_input == FS_PILOT_INPUT_DISARM) {
set_neutral_controls(); set_neutral_controls();
@ -251,7 +251,7 @@ void Sub::failsafe_internal_pressure_check()
// Warn every 30 seconds // Warn every 30 seconds
if (failsafe.internal_pressure && tnow > last_pressure_warn_ms + 30000) { if (failsafe.internal_pressure && tnow > last_pressure_warn_ms + 30000) {
last_pressure_warn_ms = tnow; last_pressure_warn_ms = tnow;
gcs_send_text(MAV_SEVERITY_WARNING, "Internal pressure critical!"); gcs().send_text(MAV_SEVERITY_WARNING, "Internal pressure critical!");
} }
} }
@ -283,7 +283,7 @@ void Sub::failsafe_internal_temperature_check()
// Warn every 30 seconds // Warn every 30 seconds
if (failsafe.internal_temperature && tnow > last_temperature_warn_ms + 30000) { if (failsafe.internal_temperature && tnow > last_temperature_warn_ms + 30000) {
last_temperature_warn_ms = tnow; last_temperature_warn_ms = tnow;
gcs_send_text(MAV_SEVERITY_WARNING, "Internal temperature critical!"); gcs().send_text(MAV_SEVERITY_WARNING, "Internal temperature critical!");
} }
} }
@ -309,7 +309,7 @@ void Sub::failsafe_leak_check()
// Always send a warning every 20 seconds // Always send a warning every 20 seconds
if (tnow > failsafe.last_leak_warn_ms + 20000) { if (tnow > failsafe.last_leak_warn_ms + 20000) {
failsafe.last_leak_warn_ms = tnow; failsafe.last_leak_warn_ms = tnow;
gcs_send_text(MAV_SEVERITY_CRITICAL, "Leak Detected"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Leak Detected");
} }
// Do nothing if we have already triggered the failsafe action, or if the motors are disarmed // Do nothing if we have already triggered the failsafe action, or if the motors are disarmed
@ -355,7 +355,7 @@ void Sub::failsafe_gcs_check()
// Send a warning every 30 seconds // Send a warning every 30 seconds
if (tnow > failsafe.last_gcs_warn_ms + 30000) { if (tnow > failsafe.last_gcs_warn_ms + 30000) {
failsafe.last_gcs_warn_ms = tnow; failsafe.last_gcs_warn_ms = tnow;
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "MYGCS: %d, heartbeat lost", g.sysid_my_gcs); gcs().send_text(MAV_SEVERITY_WARNING, "MYGCS: %d, heartbeat lost", g.sysid_my_gcs);
} }
// do nothing if we have already triggered the failsafe action, or if the motors are disarmed // do nothing if we have already triggered the failsafe action, or if the motors are disarmed
@ -418,7 +418,7 @@ void Sub::failsafe_crash_check()
// Send warning to GCS // Send warning to GCS
if (tnow > failsafe.last_crash_warn_ms + 20000) { if (tnow > failsafe.last_crash_warn_ms + 20000) {
failsafe.last_crash_warn_ms = tnow; failsafe.last_crash_warn_ms = tnow;
gcs_send_text(MAV_SEVERITY_WARNING,"Crash detected"); gcs().send_text(MAV_SEVERITY_WARNING,"Crash detected");
} }
// Only perform failsafe action once // Only perform failsafe action once
@ -448,7 +448,7 @@ void Sub::failsafe_terrain_check()
// check for clearing of event // check for clearing of event
if (trigger_event != failsafe.terrain) { if (trigger_event != failsafe.terrain) {
if (trigger_event) { if (trigger_event) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Failsafe terrain triggered"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Failsafe terrain triggered");
failsafe_terrain_on_event(); failsafe_terrain_on_event();
} else { } else {
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_ERROR_RESOLVED); Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_ERROR_RESOLVED);

12
ArduSub/joystick.cpp
View File

@ -204,10 +204,10 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
video_toggle = !video_toggle; video_toggle = !video_toggle;
if (video_toggle) { if (video_toggle) {
video_switch = 1900; video_switch = 1900;
gcs_send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 2"); gcs().send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 2");
} else { } else {
video_switch = 1100; video_switch = 1100;
gcs_send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 1"); gcs().send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 1");
} }
} }
break; break;
@ -272,7 +272,7 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
} else { } else {
gain = 1.0f; gain = 1.0f;
} }
gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain: %2.0f%%",(double)gain*100); gcs().send_text(MAV_SEVERITY_INFO,"#Gain: %2.0f%%",(double)gain*100);
} }
break; break;
case JSButton::button_function_t::k_gain_inc: case JSButton::button_function_t::k_gain_inc:
@ -288,7 +288,7 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
gain = constrain_float(gain + (g.maxGain-g.minGain)/(g.numGainSettings-1), g.minGain, g.maxGain); gain = constrain_float(gain + (g.maxGain-g.minGain)/(g.numGainSettings-1), g.minGain, g.maxGain);
} }
gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",(double)gain*100); gcs().send_text(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",(double)gain*100);
} }
break; break;
case JSButton::button_function_t::k_gain_dec: case JSButton::button_function_t::k_gain_dec:
@ -304,7 +304,7 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
gain = constrain_float(gain - (g.maxGain-g.minGain)/(g.numGainSettings-1), g.minGain, g.maxGain); gain = constrain_float(gain - (g.maxGain-g.minGain)/(g.numGainSettings-1), g.minGain, g.maxGain);
} }
gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",(double)gain*100); gcs().send_text(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",(double)gain*100);
} }
break; break;
case JSButton::button_function_t::k_trim_roll_inc: case JSButton::button_function_t::k_trim_roll_inc:
@ -324,7 +324,7 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
zTrim = z_last-500; zTrim = z_last-500;
xTrim = x_last; xTrim = x_last;
yTrim = y_last; yTrim = y_last;
gcs_send_text(MAV_SEVERITY_INFO,"#Input Hold Set"); gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Set");
} }
break; break;
case JSButton::button_function_t::k_relay_1_on: case JSButton::button_function_t::k_relay_1_on:

4
ArduSub/motors.cpp
View File

@ -42,7 +42,7 @@ bool Sub::init_arm_motors(bool arming_from_gcs)
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text(MAV_SEVERITY_INFO, "Arming motors"); gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
#endif #endif
initial_armed_bearing = ahrs.yaw_sensor; initial_armed_bearing = ahrs.yaw_sensor;
@ -96,7 +96,7 @@ void Sub::init_disarm_motors()
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text(MAV_SEVERITY_INFO, "Disarming motors"); gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
#endif #endif
// save compass offsets learned by the EKF if enabled // save compass offsets learned by the EKF if enabled

4
ArduSub/sensors.cpp
View File

@ -2,9 +2,9 @@
void Sub::init_barometer(bool save) void Sub::init_barometer(bool save)
{ {
gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer"); gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
barometer.calibrate(save); barometer.calibrate(save);
gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete"); gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
} }
// return barometric altitude in centimeters // return barometric altitude in centimeters

2
ArduSub/turn_counter.cpp
View File

@ -58,7 +58,7 @@ void Sub::update_turn_counter()
uint32_t tnow = AP_HAL::millis(); uint32_t tnow = AP_HAL::millis();
if (quarter_turn_count/4 != last_turn_count_printed && tnow > last_turn_announce_ms + 2000) { if (quarter_turn_count/4 != last_turn_count_printed && tnow > last_turn_announce_ms + 2000) {
last_turn_announce_ms = tnow; last_turn_announce_ms = tnow;
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Tether is turned %i turns %s",int32_t(abs(quarter_turn_count)/4),(quarter_turn_count>0)?"to the right":"to the left"); gcs().send_text(MAV_SEVERITY_INFO,"Tether is turned %i turns %s",int32_t(abs(quarter_turn_count)/4),(quarter_turn_count>0)?"to the right":"to the left");
last_turn_count_printed = quarter_turn_count/4; last_turn_count_printed = quarter_turn_count/4;
} }
last_turn_state = turn_state; last_turn_state = turn_state;