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Plane: use send_text method on the GCS singleton

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This commit is contained in:
Peter Barker 2017-07-09 11:15:58 +10:00 committed by Tom Pittenger
parent f60389d4aa
commit 5a8f01c19c
18 changed files with 95 additions and 117 deletions
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10
ArduPlane/ArduPlane.cpp
View File

@ -378,7 +378,7 @@ void Plane::one_second_loop()
void Plane::log_perf_info()
{
if (scheduler.debug() != 0) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "PERF: %u/%u Dt=%u/%u Log=%u",
gcs().send_text(MAV_SEVERITY_INFO, "PERF: %u/%u Dt=%u/%u Log=%u",
(unsigned)perf.num_long,
(unsigned)perf.mainLoop_count,
(unsigned)perf.G_Dt_max,
@ -702,7 +702,7 @@ void Plane::update_flight_mode(void)
if (tdrag_mode && !auto_state.fbwa_tdrag_takeoff_mode) {
if (auto_state.highest_airspeed < g.takeoff_tdrag_speed1) {
auto_state.fbwa_tdrag_takeoff_mode = true;
gcs_send_text(MAV_SEVERITY_WARNING, "FBWA tdrag mode");
gcs().send_text(MAV_SEVERITY_WARNING, "FBWA tdrag mode");
}
}
}
@ -888,7 +888,7 @@ void Plane::set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs)
landing.handle_flight_stage_change(fs == AP_Vehicle::FixedWing::FLIGHT_LAND);
if (fs == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm",
gcs().send_text(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm",
auto_state.takeoff_altitude_rel_cm/100);
}
@ -960,7 +960,7 @@ void Plane::update_flight_stage(void)
// abort mode is sticky, it must complete while executing NAV_LAND
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND);
} else if (landing.get_abort_throttle_enable() && channel_throttle->get_control_in() >= 90) {
plane.gcs_send_text(MAV_SEVERITY_INFO,"Landing aborted via throttle");
gcs().send_text(MAV_SEVERITY_INFO,"Landing aborted via throttle");
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND);
} else {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND);
@ -1032,7 +1032,7 @@ void Plane::disarm_if_autoland_complete()
/* we have auto disarm enabled. See if enough time has passed */
if (millis() - auto_state.last_flying_ms >= landing.get_disarm_delay()*1000UL) {
if (disarm_motors()) {
gcs_send_text(MAV_SEVERITY_INFO,"Auto disarmed");
gcs().send_text(MAV_SEVERITY_INFO,"Auto disarmed");
}
}
}

36
ArduPlane/GCS_Mavlink.cpp
View File

@ -1403,7 +1403,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_ACCEPTED;
if (!plane.geofence_present()) {
plane.gcs_send_text(MAV_SEVERITY_NOTICE,"Fence not configured");
gcs().send_text(MAV_SEVERITY_NOTICE,"Fence not configured");
result = MAV_RESULT_FAILED;
} else {
switch((uint16_t)packet.param1) {
@ -1421,7 +1421,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
if (! plane.geofence_set_floor_enabled(false)) {
result = MAV_RESULT_FAILED;
} else {
plane.gcs_send_text(MAV_SEVERITY_NOTICE,"Fence floor disabled");
gcs().send_text(MAV_SEVERITY_NOTICE,"Fence floor disabled");
}
break;
default:
@ -1464,7 +1464,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
plane.Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(new_home_loc);
result = MAV_RESULT_ACCEPTED;
plane.gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
(double)(new_home_loc.lat*1.0e-7f),
(double)(new_home_loc.lng*1.0e-7f),
(uint32_t)(new_home_loc.alt*0.01f));
@ -1497,10 +1497,10 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
case PARACHUTE_RELEASE:
// treat as a manual release which performs some additional check of altitude
if (plane.parachute.released()) {
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Parachute already released");
gcs().send_text(MAV_SEVERITY_NOTICE, "Parachute already released");
result = MAV_RESULT_FAILED;
} else if (!plane.parachute.enabled()) {
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Parachute not enabled");
gcs().send_text(MAV_SEVERITY_NOTICE, "Parachute not enabled");
result = MAV_RESULT_FAILED;
} else {
if (!plane.parachute_manual_release()) {
@ -2026,7 +2026,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
plane.home_is_set = HOME_SET_NOT_LOCKED;
plane.Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(new_home_loc);
plane.gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
(double)(new_home_loc.lat*1.0e-7f),
(double)(new_home_loc.lng*1.0e-7f),
(uint32_t)(new_home_loc.alt*0.01f));
@ -2073,7 +2073,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
cmd.content.location.flags.terrain_alt = true;
break;
default:
plane.gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Invalid coord frame in SET_POSTION_TARGET_GLOBAL_INT");
gcs().send_text(MAV_SEVERITY_WARNING, "Invalid coord frame in SET_POSTION_TARGET_GLOBAL_INT");
msg_valid = false;
break;
}
@ -2127,7 +2127,7 @@ void Plane::mavlink_delay_cb()
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM");
gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
}
DataFlash.EnableWrites(true);
@ -2166,26 +2166,6 @@ void Plane::gcs_update(void)
gcs().update();
}
void Plane::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 Plane::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);
hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
va_end(arg_list);
gcs().send_statustext(severity, 0xFF, str);
}
/*
send airspeed calibration data
*/

4
ArduPlane/Log.cpp
View File

@ -148,9 +148,9 @@ int8_t Plane::process_logs(uint8_t argc, const Menu::arg *argv)
void Plane::do_erase_logs(void)
{
gcs_send_text(MAV_SEVERITY_INFO, "Erasing logs");
gcs().send_text(MAV_SEVERITY_INFO, "Erasing logs");
DataFlash.EraseAll();
gcs_send_text(MAV_SEVERITY_INFO, "Log erase complete");
gcs().send_text(MAV_SEVERITY_INFO, "Log erase complete");
}

2
ArduPlane/Plane.h
View File

@ -826,7 +826,6 @@ private:
void gcs_send_mission_item_reached_message(uint16_t mission_index);
void gcs_data_stream_send(void);
void gcs_update(void);
void gcs_send_text(MAV_SEVERITY severity, const char *str);
void gcs_send_airspeed_calibration(const Vector3f &vg);
void gcs_retry_deferred(void);
@ -1040,7 +1039,6 @@ private:
void update_is_flying_5Hz(void);
void crash_detection_update(void);
bool in_preLaunch_flight_stage(void);
void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
void handle_auto_mode(void);
void calc_throttle();
void calc_nav_roll();

4
ArduPlane/altitude.cpp
View File

@ -606,7 +606,7 @@ void Plane::rangefinder_height_update(void)
(control_mode == AUTO && plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_VTOL_LAND)) &&
g.rangefinder_landing) {
rangefinder_state.in_use = true;
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Rangefinder engaged at %.2fm", (double)rangefinder_state.height_estimate);
gcs().send_text(MAV_SEVERITY_INFO, "Rangefinder engaged at %.2fm", (double)rangefinder_state.height_estimate);
}
}
rangefinder_state.last_distance = distance;
@ -643,7 +643,7 @@ void Plane::rangefinder_height_update(void)
if (fabsf(rangefinder_state.correction - rangefinder_state.initial_correction) > 30) {
// the correction has changed by more than 30m, reset use of Lidar. We may have a bad lidar
if (rangefinder_state.in_use) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Rangefinder disengaged at %.2fm", (double)rangefinder_state.height_estimate);
gcs().send_text(MAV_SEVERITY_INFO, "Rangefinder disengaged at %.2fm", (double)rangefinder_state.height_estimate);
}
memset(&rangefinder_state, 0, sizeof(rangefinder_state));
}

4
ArduPlane/commands.cpp
View File

@ -51,7 +51,7 @@ void Plane::set_next_WP(const struct Location &loc)
// location as the previous waypoint, to prevent immediately
// considering the waypoint complete
if (location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Resetting previous waypoint");
gcs().send_text(MAV_SEVERITY_NOTICE, "Resetting previous waypoint");
prev_WP_loc = current_loc;
}
@ -104,7 +104,7 @@ void Plane::set_guided_WP(void)
// -------------------------------
void Plane::init_home()
{
gcs_send_text(MAV_SEVERITY_INFO, "Init HOME");
gcs().send_text(MAV_SEVERITY_INFO, "Init HOME");
ahrs.set_home(gps.location());
home_is_set = HOME_SET_NOT_LOCKED;

54
ArduPlane/commands_logic.cpp
View File

@ -34,9 +34,9 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
const uint16_t next_index = mission.get_current_nav_index() + 1;
auto_state.wp_is_land_approach = mission.get_next_nav_cmd(next_index, next_nav_cmd) && (next_nav_cmd.id == MAV_CMD_NAV_LAND);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing nav command ID #%i",cmd.id);
gcs().send_text(MAV_SEVERITY_INFO, "Executing nav command ID #%i",cmd.id);
} else {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing command ID #%i",cmd.id);
gcs().send_text(MAV_SEVERITY_INFO, "Executing command ID #%i",cmd.id);
}
switch(cmd.id) {
@ -131,7 +131,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_DO_INVERTED_FLIGHT:
if (cmd.p1 == 0 || cmd.p1 == 1) {
auto_state.inverted_flight = (bool)cmd.p1;
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set inverted %u", cmd.p1);
gcs().send_text(MAV_SEVERITY_INFO, "Set inverted %u", cmd.p1);
}
break;
@ -142,15 +142,15 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
#if GEOFENCE_ENABLED == ENABLED
if (cmd.p1 != 2) {
if (!geofence_set_enabled((bool) cmd.p1, AUTO_TOGGLED)) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Unable to set fence. Enabled state to %u", cmd.p1);
gcs().send_text(MAV_SEVERITY_WARNING, "Unable to set fence. Enabled state to %u", cmd.p1);
} else {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set fence enabled state to %u", cmd.p1);
gcs().send_text(MAV_SEVERITY_INFO, "Set fence enabled state to %u", cmd.p1);
}
} else { //commanding to only disable floor
if (! geofence_set_floor_enabled(false)) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Unable to disable fence floor");
gcs().send_text(MAV_SEVERITY_WARNING, "Unable to disable fence floor");
} else {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Fence floor disabled");
gcs().send_text(MAV_SEVERITY_WARNING, "Fence floor disabled");
}
}
#endif
@ -318,7 +318,7 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
default:
// 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;
}
@ -409,15 +409,15 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable == 1) {
if (! geofence_set_enabled(false, AUTO_TOGGLED)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Disable fence failed (autodisable)");
gcs().send_text(MAV_SEVERITY_NOTICE, "Disable fence failed (autodisable)");
} else {
gcs_send_text(MAV_SEVERITY_NOTICE, "Fence disabled (autodisable)");
gcs().send_text(MAV_SEVERITY_NOTICE, "Fence disabled (autodisable)");
}
} else if (g.fence_autoenable == 2) {
if (! geofence_set_floor_enabled(false)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Disable fence floor failed (autodisable)");
gcs().send_text(MAV_SEVERITY_NOTICE, "Disable fence floor failed (autodisable)");
} else {
gcs_send_text(MAV_SEVERITY_NOTICE, "Fence floor disabled (auto disable)");
gcs().send_text(MAV_SEVERITY_NOTICE, "Fence floor disabled (auto disable)");
}
}
#endif
@ -532,7 +532,7 @@ bool Plane::verify_takeoff()
float takeoff_course = wrap_PI(radians(gps.ground_course_cd()*0.01f)) - steer_state.locked_course_err;
takeoff_course = wrap_PI(takeoff_course);
steer_state.hold_course_cd = wrap_360_cd(degrees(takeoff_course)*100);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Holding course %ld at %.1fm/s (%.1f)",
gcs().send_text(MAV_SEVERITY_INFO, "Holding course %ld at %.1fm/s (%.1f)",
steer_state.hold_course_cd,
(double)gps.ground_speed(),
(double)degrees(steer_state.locked_course_err));
@ -549,7 +549,7 @@ bool Plane::verify_takeoff()
// see if we have reached takeoff altitude
int32_t relative_alt_cm = adjusted_relative_altitude_cm();
if (relative_alt_cm > auto_state.takeoff_altitude_rel_cm) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Takeoff complete at %.2fm",
gcs().send_text(MAV_SEVERITY_INFO, "Takeoff complete at %.2fm",
(double)(relative_alt_cm*0.01f));
steer_state.hold_course_cd = -1;
auto_state.takeoff_complete = true;
@ -622,7 +622,7 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
}
if (auto_state.wp_distance <= acceptance_distance_m) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%i dist %um",
gcs().send_text(MAV_SEVERITY_INFO, "Reached waypoint #%i dist %um",
(unsigned)mission.get_current_nav_cmd().index,
(unsigned)get_distance(current_loc, flex_next_WP_loc));
return true;
@ -630,7 +630,7 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// have we flown past the waypoint?
if (location_passed_point(current_loc, prev_WP_loc, flex_next_WP_loc)) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed waypoint #%i dist %um",
gcs().send_text(MAV_SEVERITY_INFO, "Passed waypoint #%i dist %um",
(unsigned)mission.get_current_nav_cmd().index,
(unsigned)get_distance(current_loc, flex_next_WP_loc));
return true;
@ -676,7 +676,7 @@ bool Plane::verify_loiter_time()
}
if (result) {
gcs_send_text(MAV_SEVERITY_INFO,"Loiter time complete");
gcs().send_text(MAV_SEVERITY_INFO,"Loiter time complete");
auto_state.vtol_loiter = false;
}
return result;
@ -704,7 +704,7 @@ bool Plane::verify_loiter_turns()
}
if (result) {
gcs_send_text(MAV_SEVERITY_INFO,"Loiter orbits complete");
gcs().send_text(MAV_SEVERITY_INFO,"Loiter orbits complete");
}
return result;
}
@ -725,7 +725,7 @@ bool Plane::verify_loiter_to_alt()
if (labs(loiter.sum_cd) > 1 && (loiter.reached_target_alt || loiter.unable_to_acheive_target_alt)) {
// primary goal completed, initialize secondary heading goal
if (loiter.unable_to_acheive_target_alt) {
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Loiter to alt was stuck at %d", current_loc.alt/100);
gcs().send_text(MAV_SEVERITY_INFO,"Loiter to alt was stuck at %d", current_loc.alt/100);
}
condition_value = 1;
@ -737,7 +737,7 @@ bool Plane::verify_loiter_to_alt()
}
if (result) {
gcs_send_text(MAV_SEVERITY_INFO,"Loiter to alt complete");
gcs().send_text(MAV_SEVERITY_INFO,"Loiter to alt complete");
}
return result;
}
@ -752,7 +752,7 @@ bool Plane::verify_RTL()
update_loiter(abs(g.rtl_radius));
if (auto_state.wp_distance <= (uint32_t)MAX(g.waypoint_radius,0) ||
reached_loiter_target()) {
gcs_send_text(MAV_SEVERITY_INFO,"Reached RTL location");
gcs().send_text(MAV_SEVERITY_INFO,"Reached RTL location");
return true;
} else {
return false;
@ -802,11 +802,11 @@ bool Plane::verify_continue_and_change_alt()
bool Plane::verify_altitude_wait(const AP_Mission::Mission_Command &cmd)
{
if (current_loc.alt > cmd.content.altitude_wait.altitude*100.0f) {
gcs_send_text(MAV_SEVERITY_INFO,"Reached altitude");
gcs().send_text(MAV_SEVERITY_INFO,"Reached altitude");
return true;
}
if (auto_state.sink_rate > cmd.content.altitude_wait.descent_rate) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached descent rate %.1f m/s", (double)auto_state.sink_rate);
gcs().send_text(MAV_SEVERITY_INFO, "Reached descent rate %.1f m/s", (double)auto_state.sink_rate);
return true;
}
@ -882,17 +882,17 @@ void Plane::do_change_speed(const AP_Mission::Mission_Command& cmd)
case 0: // Airspeed
if (cmd.content.speed.target_ms > 0) {
aparm.airspeed_cruise_cm.set(cmd.content.speed.target_ms * 100);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set airspeed %u m/s", (unsigned)cmd.content.speed.target_ms);
gcs().send_text(MAV_SEVERITY_INFO, "Set airspeed %u m/s", (unsigned)cmd.content.speed.target_ms);
}
break;
case 1: // Ground speed
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set groundspeed %u", (unsigned)cmd.content.speed.target_ms);
gcs().send_text(MAV_SEVERITY_INFO, "Set groundspeed %u", (unsigned)cmd.content.speed.target_ms);
aparm.min_gndspeed_cm.set(cmd.content.speed.target_ms * 100);
break;
}
if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set throttle %u", (unsigned)cmd.content.speed.throttle_pct);
gcs().send_text(MAV_SEVERITY_INFO, "Set throttle %u", (unsigned)cmd.content.speed.throttle_pct);
aparm.throttle_cruise.set(cmd.content.speed.throttle_pct);
}
}
@ -1018,7 +1018,7 @@ void Plane::exit_mission_callback()
{
if (control_mode == AUTO) {
set_mode(RTL, MODE_REASON_MISSION_END);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Mission complete, changing mode to RTL");
gcs().send_text(MAV_SEVERITY_INFO, "Mission complete, changing mode to RTL");
}
}

6
ArduPlane/control_modes.cpp
View File

@ -74,17 +74,17 @@ void Plane::read_control_switch()
if (hal.util->get_soft_armed() || (last_mixer_crc != -1)) {
px4io_override_enabled = true;
// disable output channels to force PX4IO override
gcs_send_text(MAV_SEVERITY_WARNING, "PX4IO override enabled");
gcs().send_text(MAV_SEVERITY_WARNING, "PX4IO override enabled");
} else {
// we'll let the one second loop reconfigure the mixer. The
// PX4IO code sometimes rejects a mixer, probably due to it
// being busy in some way?
gcs_send_text(MAV_SEVERITY_WARNING, "PX4IO override enable failed");
gcs().send_text(MAV_SEVERITY_WARNING, "PX4IO override enable failed");
}
} else if (!override_requested && px4io_override_enabled) {
px4io_override_enabled = false;
SRV_Channels::enable_aux_servos();
gcs_send_text(MAV_SEVERITY_WARNING, "PX4IO override disabled");
gcs().send_text(MAV_SEVERITY_WARNING, "PX4IO override disabled");
}
if (px4io_override_enabled &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_ARMED &&

14
ArduPlane/events.cpp
View File

@ -5,7 +5,7 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, mode_reason_t re
// This is how to handle a short loss of control signal failsafe.
failsafe.state = fstype;
failsafe.ch3_timer_ms = millis();
gcs_send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event on, ");
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event on, ");
switch(control_mode)
{
case MANUAL:
@ -55,13 +55,13 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, mode_reason_t re
default:
break;
}
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Flight mode = %u", (unsigned)control_mode);
gcs().send_text(MAV_SEVERITY_INFO, "Flight mode = %u", (unsigned)control_mode);
}
void Plane::failsafe_long_on_event(enum failsafe_state fstype, mode_reason_t reason)
{
// This is how to handle a long loss of control signal failsafe.
gcs_send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event on, ");
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event on, ");
// If the GCS is locked up we allow control to revert to RC
hal.rcin->clear_overrides();
failsafe.state = fstype;
@ -115,15 +115,15 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, mode_reason_t rea
break;
}
if (fstype == FAILSAFE_GCS) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "No GCS heartbeat");
gcs().send_text(MAV_SEVERITY_CRITICAL, "No GCS heartbeat");
}
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Flight mode = %u", (unsigned)control_mode);
gcs().send_text(MAV_SEVERITY_INFO, "Flight mode = %u", (unsigned)control_mode);
}
void Plane::failsafe_short_off_event(mode_reason_t reason)
{
// We're back in radio contact
gcs_send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event off");
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event off");
failsafe.state = FAILSAFE_NONE;
// re-read the switch so we can return to our preferred mode
@ -139,7 +139,7 @@ void Plane::low_battery_event(void)
if (failsafe.low_battery) {
return;
}
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Low battery %.2fV used %.0f mAh",
gcs().send_text(MAV_SEVERITY_WARNING, "Low battery %.2fV used %.0f mAh",
(double)battery.voltage(), (double)battery.current_total_mah());
if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
set_mode(RTL, MODE_REASON_BATTERY_FAILSAFE);

8
ArduPlane/geofence.cpp
View File

@ -136,13 +136,13 @@ void Plane::geofence_load(void)
geofence_state->boundary_uptodate = true;
geofence_state->fence_triggered = false;
gcs_send_text(MAV_SEVERITY_INFO,"Geofence loaded");
gcs().send_text(MAV_SEVERITY_INFO,"Geofence loaded");
gcs_send_message(MSG_FENCE_STATUS);
return;
failed:
g.fence_action.set(FENCE_ACTION_NONE);
gcs_send_text(MAV_SEVERITY_WARNING,"Geofence setup error");
gcs().send_text(MAV_SEVERITY_WARNING,"Geofence setup error");
}
/*
@ -334,7 +334,7 @@ void Plane::geofence_check(bool altitude_check_only)
if (geofence_state->fence_triggered && !altitude_check_only) {
// we have moved back inside the fence
geofence_state->fence_triggered = false;
gcs_send_text(MAV_SEVERITY_INFO,"Geofence OK");
gcs().send_text(MAV_SEVERITY_INFO,"Geofence OK");
#if FENCE_TRIGGERED_PIN > 0
hal.gpio->pinMode(FENCE_TRIGGERED_PIN, HAL_GPIO_OUTPUT);
hal.gpio->write(FENCE_TRIGGERED_PIN, 0);
@ -364,7 +364,7 @@ void Plane::geofence_check(bool altitude_check_only)
hal.gpio->write(FENCE_TRIGGERED_PIN, 1);
#endif
gcs_send_text(MAV_SEVERITY_NOTICE,"Geofence triggered");
gcs().send_text(MAV_SEVERITY_NOTICE,"Geofence triggered");
gcs_send_message(MSG_FENCE_STATUS);
// see what action the user wants

8
ArduPlane/is_flying.cpp
View File

@ -280,9 +280,9 @@ void Plane::crash_detection_update(void)
if (aparm.crash_detection_enable == CRASH_DETECT_ACTION_BITMASK_DISABLED) {
if (crashed_near_land_waypoint) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected. No action taken");
gcs().send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected. No action taken");
} else {
gcs_send_text(MAV_SEVERITY_EMERGENCY, "Crash detected. No action taken");
gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash detected. No action taken");
}
}
else {
@ -290,9 +290,9 @@ void Plane::crash_detection_update(void)
disarm_motors();
}
if (crashed_near_land_waypoint) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected");
gcs().send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected");
} else {
gcs_send_text(MAV_SEVERITY_EMERGENCY, "Crash detected");
gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash detected");
}
}
}

2
ArduPlane/motor_test.cpp
View File

@ -78,7 +78,7 @@ uint8_t QuadPlane::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t moto
uint16_t throttle_value, float timeout_sec, uint8_t motor_count)
{
if (motors->armed()) {
plane.gcs_send_text(MAV_SEVERITY_INFO, "Must be disarmed for motor test");
gcs().send_text(MAV_SEVERITY_INFO, "Must be disarmed for motor test");
return MAV_RESULT_FAILED;
}
// if test has not started try to start it

4
ArduPlane/parachute.cpp
View File

@ -23,7 +23,7 @@ void Plane::parachute_release()
}
// send message to gcs and dataflash
gcs_send_text(MAV_SEVERITY_CRITICAL,"Parachute: Released");
gcs().send_text(MAV_SEVERITY_CRITICAL,"Parachute: Released");
// release parachute
parachute.release();
@ -44,7 +44,7 @@ bool Plane::parachute_manual_release()
if (parachute.alt_min() > 0 && relative_ground_altitude(false) < parachute.alt_min() &&
auto_state.last_flying_ms > 0) {
// Allow manual ground tests by only checking if flying too low if we've taken off
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Parachute: Too low");
gcs().send_text(MAV_SEVERITY_WARNING, "Parachute: Too low");
return false;
}

18
ArduPlane/quadplane.cpp
View File

@ -1545,24 +1545,24 @@ bool QuadPlane::init_mode(void)
bool QuadPlane::handle_do_vtol_transition(enum MAV_VTOL_STATE state)
{
if (!available()) {
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "VTOL not available");
gcs().send_text(MAV_SEVERITY_NOTICE, "VTOL not available");
return false;
}
if (plane.control_mode != AUTO) {
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "VTOL transition only in AUTO");
gcs().send_text(MAV_SEVERITY_NOTICE, "VTOL transition only in AUTO");
return false;
}
switch (state) {
case MAV_VTOL_STATE_MC:
if (!plane.auto_state.vtol_mode) {
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Entered VTOL mode");
gcs().send_text(MAV_SEVERITY_NOTICE, "Entered VTOL mode");
}
plane.auto_state.vtol_mode = true;
return true;
case MAV_VTOL_STATE_FW:
if (plane.auto_state.vtol_mode) {
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Exited VTOL mode");
gcs().send_text(MAV_SEVERITY_NOTICE, "Exited VTOL mode");
}
plane.auto_state.vtol_mode = false;
@ -1572,7 +1572,7 @@ bool QuadPlane::handle_do_vtol_transition(enum MAV_VTOL_STATE state)
break;
}
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Invalid VTOL mode");
gcs().send_text(MAV_SEVERITY_NOTICE, "Invalid VTOL mode");
return false;
}
@ -1740,7 +1740,7 @@ void QuadPlane::vtol_position_controller(void)
plane.auto_state.wp_distance < 5) {
poscontrol.state = QPOS_POSITION2;
wp_nav->init_loiter_target();
plane.gcs_send_text_fmt(MAV_SEVERITY_INFO,"VTOL position2 started v=%.1f d=%.1f",
gcs().send_text(MAV_SEVERITY_INFO,"VTOL position2 started v=%.1f d=%.1f",
(double)ahrs.groundspeed(), (double)plane.auto_state.wp_distance);
}
break;
@ -2085,7 +2085,7 @@ void QuadPlane::check_land_complete(void)
// change in altitude for last 4s. We are landed.
plane.disarm_motors();
poscontrol.state = QPOS_LAND_COMPLETE;
plane.gcs_send_text(MAV_SEVERITY_INFO,"Land complete");
gcs().send_text(MAV_SEVERITY_INFO,"Land complete");
// reload target airspeed which could have been modified by the mission
plane.aparm.airspeed_cruise_cm.load();
}
@ -2101,7 +2101,7 @@ bool QuadPlane::verify_vtol_land(void)
if (poscontrol.state == QPOS_POSITION2 &&
plane.auto_state.wp_distance < 2) {
poscontrol.state = QPOS_LAND_DESCEND;
plane.gcs_send_text(MAV_SEVERITY_INFO,"Land descend started");
gcs().send_text(MAV_SEVERITY_INFO,"Land descend started");
plane.set_next_WP(plane.next_WP_loc);
}
@ -2119,7 +2119,7 @@ bool QuadPlane::verify_vtol_land(void)
if (land_icengine_cut != 0) {
plane.g2.ice_control.engine_control(0, 0, 0);
}
plane.gcs_send_text(MAV_SEVERITY_INFO,"Land final started");
gcs().send_text(MAV_SEVERITY_INFO,"Land final started");
}
check_land_complete();

4
ArduPlane/radio.cpp
View File

@ -266,7 +266,7 @@ void Plane::control_failsafe(uint16_t pwm)
// throttle has dropped below the mark
failsafe.ch3_counter++;
if (failsafe.ch3_counter == 10) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Throttle failsafe on %u", (unsigned)pwm);
gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe on %u", (unsigned)pwm);
failsafe.ch3_failsafe = true;
AP_Notify::flags.failsafe_radio = true;
}
@ -282,7 +282,7 @@ void Plane::control_failsafe(uint16_t pwm)
failsafe.ch3_counter = 3;
}
if (failsafe.ch3_counter == 1) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Throttle failsafe off %u", (unsigned)pwm);
gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe off %u", (unsigned)pwm);
} else if(failsafe.ch3_counter == 0) {
failsafe.ch3_failsafe = false;
AP_Notify::flags.failsafe_radio = false;

6
ArduPlane/sensors.cpp
View File

@ -3,13 +3,13 @@
void Plane::init_barometer(bool full_calibration)
{
gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
if (full_calibration) {
barometer.calibrate();
} else {
barometer.update_calibration();
}
gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
}
void Plane::init_rangefinder(void)
@ -108,7 +108,7 @@ void Plane::zero_airspeed(bool in_startup)
read_airspeed();
// update barometric calibration with new airspeed supplied temperature
barometer.update_calibration();
gcs_send_text(MAV_SEVERITY_INFO,"Airspeed calibration started");
gcs().send_text(MAV_SEVERITY_INFO,"Airspeed calibration started");
}
// read_battery - reads battery voltage and current and invokes failsafe

12
ArduPlane/system.cpp
View File

@ -279,10 +279,10 @@ void Plane::startup_ground(void)
set_mode(INITIALISING, MODE_REASON_UNKNOWN);
#if (GROUND_START_DELAY > 0)
gcs_send_text(MAV_SEVERITY_NOTICE,"Ground start with delay");
gcs().send_text(MAV_SEVERITY_NOTICE,"Ground start with delay");
delay(GROUND_START_DELAY * 1000);
#else
gcs_send_text(MAV_SEVERITY_INFO,"Ground start");
gcs().send_text(MAV_SEVERITY_INFO,"Ground start");
#endif
//INS ground start
@ -318,7 +318,7 @@ void Plane::startup_ground(void)
// ready to fly
serial_manager.set_blocking_writes_all(false);
gcs_send_text(MAV_SEVERITY_INFO,"Ground start complete");
gcs().send_text(MAV_SEVERITY_INFO,"Ground start complete");
}
enum FlightMode Plane::get_previous_mode() {
@ -636,14 +636,14 @@ void Plane::startup_INS_ground(void)
while (barometer.get_last_update() == 0) {
// the barometer begins updating when we get the first
// HIL_STATE message
gcs_send_text(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message");
gcs().send_text(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message");
hal.scheduler->delay(1000);
}
}
#endif
if (ins.gyro_calibration_timing() != AP_InertialSensor::GYRO_CAL_NEVER) {
gcs_send_text(MAV_SEVERITY_ALERT, "Beginning INS calibration. Do not move plane");
gcs().send_text(MAV_SEVERITY_ALERT, "Beginning INS calibration. Do not move plane");
hal.scheduler->delay(100);
}
@ -664,7 +664,7 @@ void Plane::startup_INS_ground(void)
// --------------------------
zero_airspeed(true);
} else {
gcs_send_text(MAV_SEVERITY_WARNING,"No airspeed");
gcs().send_text(MAV_SEVERITY_WARNING,"No airspeed");
}
}

16
ArduPlane/takeoff.cpp
View File

@ -42,7 +42,7 @@ bool Plane::auto_takeoff_check(void)
takeoff_state.launchTimerStarted = true;
takeoff_state.last_tkoff_arm_time = now;
if (now - takeoff_state.last_report_ms > 2000) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Armed AUTO, xaccel = %.1f m/s/s, waiting %.1f sec",
gcs().send_text(MAV_SEVERITY_INFO, "Armed AUTO, xaccel = %.1f m/s/s, waiting %.1f sec",
(double)SpdHgt_Controller->get_VXdot(), (double)(wait_time_ms*0.001f));
takeoff_state.last_report_ms = now;
}
@ -51,7 +51,7 @@ bool Plane::auto_takeoff_check(void)
// Only perform velocity check if not timed out
if ((now - takeoff_state.last_tkoff_arm_time) > wait_time_ms+100U) {
if (now - takeoff_state.last_report_ms > 2000) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Timeout AUTO");
gcs().send_text(MAV_SEVERITY_WARNING, "Timeout AUTO");
takeoff_state.last_report_ms = now;
}
goto no_launch;
@ -62,7 +62,7 @@ bool Plane::auto_takeoff_check(void)
if (ahrs.pitch_sensor <= -3000 ||
ahrs.pitch_sensor >= 4500 ||
(!fly_inverted() && labs(ahrs.roll_sensor) > 3000)) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Bad launch AUTO");
gcs().send_text(MAV_SEVERITY_WARNING, "Bad launch AUTO");
goto no_launch;
}
}
@ -70,7 +70,7 @@ bool Plane::auto_takeoff_check(void)
// Check ground speed and time delay
if (((gps.ground_speed() > g.takeoff_throttle_min_speed || is_zero(g.takeoff_throttle_min_speed))) &&
((now - takeoff_state.last_tkoff_arm_time) >= wait_time_ms)) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Triggered AUTO. GPS speed = %.1f", (double)gps.ground_speed());
gcs().send_text(MAV_SEVERITY_INFO, "Triggered AUTO. GPS speed = %.1f", (double)gps.ground_speed());
takeoff_state.launchTimerStarted = false;
takeoff_state.last_tkoff_arm_time = 0;
steer_state.locked_course_err = 0; // use current heading without any error offset
@ -186,7 +186,7 @@ int16_t Plane::get_takeoff_pitch_min_cd(void)
relative_alt_cm >= 1000 &&
sec_to_target <= g.takeoff_pitch_limit_reduction_sec) {
// make a note of that altitude to use it as a start height for scaling
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Takeoff level-off starting at %dm", remaining_height_to_target_cm/100);
gcs().send_text(MAV_SEVERITY_INFO, "Takeoff level-off starting at %dm", remaining_height_to_target_cm/100);
auto_state.height_below_takeoff_to_level_off_cm = remaining_height_to_target_cm;
}
}
@ -231,7 +231,7 @@ int8_t Plane::takeoff_tail_hold(void)
return_zero:
if (auto_state.fbwa_tdrag_takeoff_mode) {
gcs_send_text(MAV_SEVERITY_NOTICE, "FBWA tdrag off");
gcs().send_text(MAV_SEVERITY_NOTICE, "FBWA tdrag off");
auto_state.fbwa_tdrag_takeoff_mode = false;
}
return 0;
@ -246,9 +246,9 @@ void Plane::complete_auto_takeoff(void)
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable > 0) {
if (! geofence_set_enabled(true, AUTO_TOGGLED)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Enable fence failed (cannot autoenable");
gcs().send_text(MAV_SEVERITY_NOTICE, "Enable fence failed (cannot autoenable");
} else {
gcs_send_text(MAV_SEVERITY_INFO, "Fence enabled (autoenabled)");
gcs().send_text(MAV_SEVERITY_INFO, "Fence enabled (autoenabled)");
}
}
#endif