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Merge pull request #664 from thomasgubler/beta_audio 

navigator mavlink log info messages: add #audio tag
This commit is contained in:
julianoes 2014-02-23 12:10:06 +01:00
parent c659e0240b f4bac7e7e8
commit 9c02525e39
1 changed files with 12 additions and 12 deletions
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24
src/modules/navigator/navigator_main.cpp
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@ -853,7 +853,7 @@ Navigator::task_main()
/* notify user about state changes */
if (myState != prevState) {
mavlink_log_info(_mavlink_fd, "[navigator] nav state: %s", nav_states_str[myState]);
mavlink_log_info(_mavlink_fd, "#audio: navigation state: %s", nav_states_str[myState]);
prevState = myState;
/* reset time counter on state changes */
@ -1061,11 +1061,11 @@ Navigator::start_loiter()
/* use current altitude if above min altitude set by parameter */
if (_global_pos.alt < min_alt_amsl && !_vstatus.is_rotary_wing) {
_pos_sp_triplet.current.alt = min_alt_amsl;
mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));
mavlink_log_info(_mavlink_fd, "#audio: loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));
} else {
_pos_sp_triplet.current.alt = _global_pos.alt;
mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude");
mavlink_log_info(_mavlink_fd, "#audio: loiter at current altitude");
}
}
@ -1162,14 +1162,14 @@ Navigator::set_mission_item()
}
if (_do_takeoff) {
mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm above home", _pos_sp_triplet.current.alt - _home_pos.alt);
mavlink_log_info(_mavlink_fd, "#audio: takeoff to %.1fm above home", _pos_sp_triplet.current.alt - _home_pos.alt);
} else {
if (onboard) {
mavlink_log_info(_mavlink_fd, "[navigator] heading to onboard WP %d", index);
mavlink_log_info(_mavlink_fd, "#audio: heading to onboard WP %d", index);
} else {
mavlink_log_info(_mavlink_fd, "[navigator] heading to offboard WP %d", index);
mavlink_log_info(_mavlink_fd, "#audio: heading to offboard WP %d", index);
}
}
@ -1318,7 +1318,7 @@ Navigator::set_rtl_item()
_pos_sp_triplet.next.valid = false;
mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm above home", climb_alt - _home_pos.alt);
mavlink_log_info(_mavlink_fd, "#audio: RTL: climb to %.1fm above home", climb_alt - _home_pos.alt);
break;
}
@ -1344,7 +1344,7 @@ Navigator::set_rtl_item()
_pos_sp_triplet.next.valid = false;
mavlink_log_info(_mavlink_fd, "[navigator] RTL: return at %.1fm above home", _mission_item.altitude - _home_pos.alt);
mavlink_log_info(_mavlink_fd, "#audio: RTL: return at %.1fm above home", _mission_item.altitude - _home_pos.alt);
break;
}
@ -1371,12 +1371,12 @@ Navigator::set_rtl_item()
_pos_sp_triplet.next.valid = false;
mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm above home", _mission_item.altitude - _home_pos.alt);
mavlink_log_info(_mavlink_fd, "#audio: RTL: descend to %.1fm above home", _mission_item.altitude - _home_pos.alt);
break;
}
default: {
mavlink_log_critical(_mavlink_fd, "[navigator] error: unknown RTL state: %d", _rtl_state);
mavlink_log_critical(_mavlink_fd, "#audio: [navigator] error: unknown RTL state: %d", _rtl_state);
start_loiter();
break;
}
@ -1525,7 +1525,7 @@ Navigator::check_mission_item_reached()
_time_first_inside_orbit = now;
if (_mission_item.time_inside > 0.01f) {
mavlink_log_info(_mavlink_fd, "[navigator] waypoint reached, wait for %.1fs", _mission_item.time_inside);
mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs", _mission_item.time_inside);
}
}
@ -1550,7 +1550,7 @@ Navigator::on_mission_item_reached()
if (_do_takeoff) {
/* takeoff completed */
_do_takeoff = false;
mavlink_log_info(_mavlink_fd, "[navigator] takeoff completed");
mavlink_log_info(_mavlink_fd, "#audio: takeoff completed");
} else {
/* advance by one mission item */