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mission: clean up mavlink log messages style

This commit is contained in:
Martina 2017-06-16 11:05:19 +02:00 committed by Lorenz Meier
parent 410e822775
commit 5984e3d330
1 changed files with 18 additions and 17 deletions
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35
src/modules/navigator/mission.cpp
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@ -439,7 +439,7 @@ Mission::set_mission_items()
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_ONBOARD) {
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Executing internal mission");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Executing internal mission.");
user_feedback_done = true;
}
@ -450,7 +450,7 @@ Mission::set_mission_items()
} else if (prepare_mission_items(false, &_mission_item, &mission_item_next_position, &has_next_position_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_OFFBOARD) {
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Executing mission");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Executing mission.");
user_feedback_done = true;
}
@ -461,11 +461,11 @@ Mission::set_mission_items()
if (_mission_type != MISSION_TYPE_NONE) {
if (_navigator->get_land_detected()->landed) {
mavlink_log_info(_navigator->get_mavlink_log_pub(), "mission finished, landed");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Mission finished, landed.");
} else {
/* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */
mavlink_log_info(_navigator->get_mavlink_log_pub(), "mission finished, loitering");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Mission finished, loitering.");
/* use last setpoint for loiter */
_navigator->set_can_loiter_at_sp(true);
@ -497,10 +497,10 @@ Mission::set_mission_items()
if (_navigator->get_land_detected()->landed) {
/* landed, refusing to take off without a mission */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "no valid mission available, refusing takeoff");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "No valid mission available, refusing takeoff.");
} else {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "no valid mission available, loitering");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "No valid mission available, loitering.");
}
user_feedback_done = true;
@ -541,7 +541,7 @@ Mission::set_mission_items()
float takeoff_alt = calculate_takeoff_altitude(&_mission_item);
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Takeoff to %.1f meters above home",
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Takeoff to %.1f meters above home.",
(double)(takeoff_alt - _navigator->get_home_position()->alt));
_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
@ -1158,7 +1158,7 @@ Mission::do_abort_landing()
_navigator->set_position_setpoint_triplet_updated();
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %dm above landing)", (int)(alt_sp - alt_landing));
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %dm above landing.", (int)(alt_sp - alt_landing));
// move mission index back 1 (landing approach point) so that re-entering
// the mission doesn't try to land from the loiter above land
@ -1226,7 +1226,8 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
/* mission item index out of bounds - if they are equal, we just reached the end */
if (*mission_index_ptr != (int)mission->count) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "[wpm] err: index: %d, max: %d", *mission_index_ptr,
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission item index out of bound, index: %d, max: %d.",
*mission_index_ptr,
(int)mission->count);
}
@ -1241,7 +1242,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
/* read mission item from datamanager */
if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR waypoint could not be read");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Waypoint could not be read.");
return false;
}
@ -1261,7 +1262,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
&mission_item_tmp, len) != len) {
/* not supposed to happen unless the datamanager can't access the
* dataman */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR DO JUMP waypoint could not be written");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "DO JUMP waypoint could not be written.");
return false;
}
@ -1274,7 +1275,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
} else {
if (offset == 0) {
mavlink_log_info(_navigator->get_mavlink_log_pub(), "DO JUMP repetitions completed");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "DO JUMP repetitions completed.");
}
/* no more DO_JUMPS, therefore just try to continue with next mission item */
@ -1289,7 +1290,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
}
/* we have given up, we don't want to cycle forever */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR DO JUMP is cycling, giving up");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "DO JUMP is cycling, giving up.");
return false;
}
@ -1313,7 +1314,7 @@ Mission::save_offboard_mission_state()
sizeof(mission_s)) != sizeof(mission_s)) {
warnx("ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Can't save mission state.");
}
}
}
@ -1325,14 +1326,14 @@ Mission::save_offboard_mission_state()
mission_state.current_seq = _current_offboard_mission_index;
warnx("ERROR: invalid mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: invalid mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Invalid mission state.");
/* write modified state only if changed */
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state,
sizeof(mission_s)) != sizeof(mission_s)) {
warnx("ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Can't save mission state.");
}
}
@ -1427,7 +1428,7 @@ Mission::reset_offboard_mission(struct mission_s &mission)
}
} else {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: could not read mission");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Could not read mission.");
/* initialize mission state in dataman */
mission.dataman_id = 0;