dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Bottle drop: Less chatty

This commit is contained in:
Lorenz Meier 2014-11-15 16:54:47 +01:00
parent 5af710221a
commit 1fc7b58894
1 changed files with 9 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
src/modules/bottle_drop/bottle_drop.cpp
View File

@ -283,7 +283,6 @@ BottleDrop::drop()
// force the door open if we have to
if (_doors_opened == 0) {
open_bay();
warnx("bay not ready, forced open");
}
while (hrt_elapsed_time(&_doors_opened) < 500 * 1000 && hrt_elapsed_time(&starttime) < 2000000) {
@ -723,16 +722,16 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
if (cmd->param1 > 0.5f && cmd->param2 > 0.5f) {
open_bay();
drop();
mavlink_log_info(_mavlink_fd, "#audio: drop bottle");
mavlink_log_critical(_mavlink_fd, "drop bottle");
} else if (cmd->param1 > 0.5f) {
open_bay();
mavlink_log_info(_mavlink_fd, "#audio: opening bay");
mavlink_log_critical(_mavlink_fd, "opening bay");
} else {
lock_release();
close_bay();
mavlink_log_info(_mavlink_fd, "#audio: closing bay");
mavlink_log_critical(_mavlink_fd, "closing bay");
}
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
@ -743,12 +742,12 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
switch ((int)(cmd->param1 + 0.5f)) {
case 0:
_drop_approval = false;
mavlink_log_info(_mavlink_fd, "#audio: got drop position, no approval");
mavlink_log_critical(_mavlink_fd, "got drop position, no approval");
break;
case 1:
_drop_approval = true;
mavlink_log_info(_mavlink_fd, "#audio: got drop position and approval");
mavlink_log_critical(_mavlink_fd, "got drop position and approval");
break;
default:
@ -818,19 +817,19 @@ BottleDrop::answer_command(struct vehicle_command_s *cmd, enum VEHICLE_CMD_RESUL
break;
case VEHICLE_CMD_RESULT_DENIED:
mavlink_log_critical(_mavlink_fd, "#audio: command denied: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command denied: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_FAILED:
mavlink_log_critical(_mavlink_fd, "#audio: command failed: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command failed: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
mavlink_log_critical(_mavlink_fd, "#audio: command temporarily rejected: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command temporarily rejected: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_UNSUPPORTED:
mavlink_log_critical(_mavlink_fd, "#audio: command unsupported: %u", cmd->command);
mavlink_log_critical(_mavlink_fd, "command unsupported: %u", cmd->command);
break;
default: