diff --git a/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp b/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp index bed52a94f0..be1365c8e8 100644 --- a/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp +++ b/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp @@ -96,7 +96,7 @@ bool MissionTest::verify_cmd(const AP_Mission::Mission_Command& cmd) // mission_complete - function that is called once the mission completes void MissionTest::mission_complete(void) { - hal.console->print("\nMission Complete!\n"); + hal.console->printf("\nMission Complete!\n"); } // run_mission_test - tests the stop and resume feature @@ -149,7 +149,7 @@ void MissionTest::run_mission_test() print_mission(); // start mission - hal.console->print("\nRunning missions\n"); + hal.console->printf("\nRunning missions\n"); mission.start(); // update mission forever @@ -174,7 +174,7 @@ void MissionTest::init_mission() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #1 : take-off to 10m @@ -185,7 +185,7 @@ void MissionTest::init_mission() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #2 : first waypoint @@ -196,7 +196,7 @@ void MissionTest::init_mission() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #3 : second waypoint @@ -206,7 +206,7 @@ void MissionTest::init_mission() cmd.content.location.lng = -1234567890; cmd.content.location.alt = 22; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #4 : do-jump to first waypoint 3 times @@ -214,7 +214,7 @@ void MissionTest::init_mission() cmd.content.jump.target = 2; cmd.content.jump.num_times = 1; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #5 : RTL @@ -224,7 +224,7 @@ void MissionTest::init_mission() cmd.content.location.lng = 0; cmd.content.location.alt = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } } @@ -245,7 +245,7 @@ void MissionTest::init_mission_no_nav_commands() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #1 : "do" command @@ -256,7 +256,7 @@ void MissionTest::init_mission_no_nav_commands() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #2 : "do" command @@ -267,13 +267,13 @@ void MissionTest::init_mission_no_nav_commands() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #3 : "do" command cmd.id = MAV_CMD_DO_SET_SERVO; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #4 : do-jump to first command 3 times @@ -281,7 +281,7 @@ void MissionTest::init_mission_no_nav_commands() cmd.content.jump.target = 1; cmd.content.jump.num_times = 1; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } } @@ -302,7 +302,7 @@ void MissionTest::init_mission_endless_loop() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #1 : do-jump command to itself @@ -310,7 +310,7 @@ void MissionTest::init_mission_endless_loop() cmd.content.jump.target = 1; cmd.content.jump.num_times = 2; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #2 : take-off to 10m @@ -321,7 +321,7 @@ void MissionTest::init_mission_endless_loop() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #3 : waypoint @@ -332,7 +332,7 @@ void MissionTest::init_mission_endless_loop() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } } @@ -354,7 +354,7 @@ void MissionTest::init_mission_jump_to_nonnav() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #1 : take-off to 10m @@ -365,7 +365,7 @@ void MissionTest::init_mission_jump_to_nonnav() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #2 : do-roi command @@ -376,7 +376,7 @@ void MissionTest::init_mission_jump_to_nonnav() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #3 : do-jump command to #2 @@ -384,7 +384,7 @@ void MissionTest::init_mission_jump_to_nonnav() cmd.content.jump.target = 2; cmd.content.jump.num_times = 2; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #4 : waypoint @@ -395,7 +395,7 @@ void MissionTest::init_mission_jump_to_nonnav() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } } @@ -418,7 +418,7 @@ void MissionTest::init_mission_starts_with_do_commands() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #1 : First "do" command @@ -429,7 +429,7 @@ void MissionTest::init_mission_starts_with_do_commands() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #2 : Second "do" command @@ -440,7 +440,7 @@ void MissionTest::init_mission_starts_with_do_commands() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #3 : take-off to 10m @@ -451,7 +451,7 @@ void MissionTest::init_mission_starts_with_do_commands() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #4 : Third "do" command @@ -462,7 +462,7 @@ void MissionTest::init_mission_starts_with_do_commands() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #5 : waypoint @@ -473,7 +473,7 @@ void MissionTest::init_mission_starts_with_do_commands() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } } @@ -495,7 +495,7 @@ void MissionTest::init_mission_ends_with_do_commands() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #1 : take-off to 10m @@ -506,7 +506,7 @@ void MissionTest::init_mission_ends_with_do_commands() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #2 : "do" command @@ -517,7 +517,7 @@ void MissionTest::init_mission_ends_with_do_commands() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #3 : waypoint @@ -528,7 +528,7 @@ void MissionTest::init_mission_ends_with_do_commands() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #4 : "do" command after last nav command (but not at end of mission) @@ -539,7 +539,7 @@ void MissionTest::init_mission_ends_with_do_commands() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #5 : "do" command at end of mission @@ -550,7 +550,7 @@ void MissionTest::init_mission_ends_with_do_commands() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } } @@ -571,7 +571,7 @@ void MissionTest::init_mission_ends_with_jump_command() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #1 : take-off to 10m @@ -582,7 +582,7 @@ void MissionTest::init_mission_ends_with_jump_command() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #2 : "do" command @@ -593,7 +593,7 @@ void MissionTest::init_mission_ends_with_jump_command() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #3 : waypoint @@ -604,7 +604,7 @@ void MissionTest::init_mission_ends_with_jump_command() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #4 : "do" command after last nav command (but not at end of mission) @@ -615,7 +615,7 @@ void MissionTest::init_mission_ends_with_jump_command() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #5 : "do" command at end of mission @@ -626,7 +626,7 @@ void MissionTest::init_mission_ends_with_jump_command() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #6 : do-jump command to #2 two times @@ -634,7 +634,7 @@ void MissionTest::init_mission_ends_with_jump_command() cmd.content.jump.target = 3; cmd.content.jump.num_times = 2; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } } @@ -692,7 +692,7 @@ void MissionTest::run_resume_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #1 : take-off to 10m @@ -703,7 +703,7 @@ void MissionTest::run_resume_test() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #2 : first waypoint @@ -714,7 +714,7 @@ void MissionTest::run_resume_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #3 : second waypoint @@ -724,7 +724,7 @@ void MissionTest::run_resume_test() cmd.content.location.lng = -1234567890; cmd.content.location.alt = 22; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #4 : do command @@ -735,7 +735,7 @@ void MissionTest::run_resume_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #5 : RTL @@ -745,7 +745,7 @@ void MissionTest::run_resume_test() cmd.content.location.lng = 0; cmd.content.location.alt = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // print current mission @@ -798,7 +798,7 @@ void MissionTest::run_set_current_cmd_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #1 : take-off to 10m @@ -809,7 +809,7 @@ void MissionTest::run_set_current_cmd_test() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #2 : do command @@ -820,7 +820,7 @@ void MissionTest::run_set_current_cmd_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #3 : first waypoint @@ -831,7 +831,7 @@ void MissionTest::run_set_current_cmd_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #4 : second waypoint @@ -841,7 +841,7 @@ void MissionTest::run_set_current_cmd_test() cmd.content.location.lng = -1234567890; cmd.content.location.alt = 22; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #5 : do command @@ -852,7 +852,7 @@ void MissionTest::run_set_current_cmd_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #6 : RTL @@ -862,7 +862,7 @@ void MissionTest::run_set_current_cmd_test() cmd.content.location.lng = 0; cmd.content.location.alt = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // print current mission @@ -903,7 +903,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #1 : take-off to 10m @@ -914,7 +914,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #2 : do command @@ -925,7 +925,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #3 : first waypoint @@ -936,7 +936,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #4 : second waypoint @@ -946,7 +946,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test() cmd.content.location.lng = -1234567890; cmd.content.location.alt = 22; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #5 : do command @@ -957,7 +957,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #6 : RTL @@ -967,7 +967,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test() cmd.content.location.lng = 0; cmd.content.location.alt = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // print current mission @@ -1040,7 +1040,7 @@ void MissionTest::run_replace_cmd_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #1 : take-off to 10m @@ -1051,7 +1051,7 @@ void MissionTest::run_replace_cmd_test() cmd.content.location.lat = 0; cmd.content.location.lng = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #2 : do command @@ -1062,7 +1062,7 @@ void MissionTest::run_replace_cmd_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #3 : first waypoint @@ -1073,7 +1073,7 @@ void MissionTest::run_replace_cmd_test() cmd.content.location.lat = 12345678; cmd.content.location.lng = 23456789; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #4 : second waypoint @@ -1083,7 +1083,7 @@ void MissionTest::run_replace_cmd_test() cmd.content.location.lng = -1234567890; cmd.content.location.alt = 22; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // Command #6 : RTL @@ -1093,7 +1093,7 @@ void MissionTest::run_replace_cmd_test() cmd.content.location.lng = 0; cmd.content.location.alt = 0; if (!mission.add_cmd(cmd)) { - hal.console->print("failed to add command\n"); + hal.console->printf("failed to add command\n"); } // print current mission @@ -1190,7 +1190,7 @@ void MissionTest::run_max_cmd_test() // setup void MissionTest::setup(void) { - hal.console->println("AP_Mission library test\n"); + hal.console->printf("AP_Mission library test\n\n"); // display basic info about command sizes hal.console->printf("Max Num Commands: %d\n",(int)mission.num_commands_max());