AP_InertialSensor: use printf() rather than _printf_P()

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -617,12 +617,12 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
                 msg = "on its BACK";
                 break;
         }
-        interact->printf_P(
+        interact->printf(
                 "Place vehicle %S and press any key.\n", msg);
 
         // wait for user input
         if (!interact->blocking_read()) {
-            //No need to use interact->printf_P for an error, blocking_read does this when it fails
+            //No need to use interact->printf for an error, blocking_read does this when it fails
             goto failed;
         }
 
@@ -650,7 +650,7 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
                 }
                 samples[k][i] += samp;
                 if (!get_accel_health(k)) {
-                    interact->printf_P("accel[%u] not healthy", (unsigned)k);
+                    interact->printf("accel[%u] not healthy", (unsigned)k);
                     goto failed;
                 }
             }
@@ -665,7 +665,7 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
     // run the calibration routine
     for (uint8_t k=0; k<num_accels; k++) {
         if (!_check_sample_range(samples[k], saved_orientation, interact)) {
-            interact->printf_P("Insufficient accel range");
+            interact->printf("Insufficient accel range");
             continue;
         }
 
@@ -675,17 +675,17 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
                                         _accel_max_abs_offsets[k],
                                         saved_orientation);
 
-        interact->printf_P("Offsets[%u]: %.2f %.2f %.2f\n",
+        interact->printf("Offsets[%u]: %.2f %.2f %.2f\n",
                             (unsigned)k,
                            (double)new_offsets[k].x, (double)new_offsets[k].y, (double)new_offsets[k].z);
-        interact->printf_P("Scaling[%u]: %.2f %.2f %.2f\n",
+        interact->printf("Scaling[%u]: %.2f %.2f %.2f\n",
                            (unsigned)k,
                            (double)new_scaling[k].x, (double)new_scaling[k].y, (double)new_scaling[k].z);
         if (success) num_ok++;
     }
 
     if (num_ok == num_accels) {
-        interact->printf_P("Calibration successful\n");
+        interact->printf("Calibration successful\n");
 
         for (uint8_t k=0; k<num_accels; k++) {
             // set and save calibration
@@ -721,7 +721,7 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
     }
 
 failed:
-    interact->printf_P("Calibration FAILED\n");
+    interact->printf("Calibration FAILED\n");
     // restore original scaling and offsets
     for (uint8_t k=0; k<num_accels; k++) {
         _accel_offset[k].set(orig_offset[k]);
@@ -1076,7 +1076,7 @@ bool AP_InertialSensor::_check_sample_range(const Vector3f accel_sample[6], enum
         }
     }
     Vector3f range = max_sample - min_sample;
-    interact->printf_P("AccelRange: %.1f %.1f %.1f",
+    interact->printf("AccelRange: %.1f %.1f %.1f",
             (double)range.x, (double)range.y, (double)range.z);
     bool ok = (range.x >= min_range && 
                range.y >= min_range && 

libraries/AP_InertialSensor/AP_InertialSensor_UserInteract.h

@@ -2,13 +2,14 @@
 #ifndef __AP_INERTIAL_SENSOR_USER_INTERACT_H__
 #define __AP_INERTIAL_SENSOR_USER_INTERACT_H__
 
+#include <AP_Common/AP_Common.h>
 #include <AP_Progmem/AP_Progmem.h>
 
 /* Pure virtual interface class */
 class AP_InertialSensor_UserInteract {
 public:
     virtual bool blocking_read() = 0;
-    virtual void _printf_P(const prog_char *, ...) = 0;
+    virtual void printf(const char *, ...) FORMAT(2, 3) = 0;
 };
 
 #endif // __AP_INERTIAL_SENSOR_USER_INTERACT_H__

libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_MAVLink.cpp

@@ -39,12 +39,12 @@ bool AP_InertialSensor_UserInteract_MAVLink::blocking_read(void)
     return false;
 }
 
-void AP_InertialSensor_UserInteract_MAVLink::_printf_P(const prog_char* fmt, ...) 
+void AP_InertialSensor_UserInteract_MAVLink::printf(const char* fmt, ...)
 {
     char msg[50];
     va_list ap;
     va_start(ap, fmt);
-    hal.util->vsnprintf(msg, sizeof(msg), (const prog_char_t *)fmt, ap);
+    hal.util->vsnprintf(msg, sizeof(msg), fmt, ap);
     va_end(ap);
     if (msg[strlen(msg)-1] == '\n') {
         // STATUSTEXT messages should not add linefeed
@@ -60,4 +60,3 @@ void AP_InertialSensor_UserInteract_MAVLink::_printf_P(const prog_char* fmt, ...
     }
     _gcs->send_text(MAV_SEVERITY_CRITICAL, msg);
 }
-

libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_MAVLink.h

@@ -2,9 +2,11 @@
 #ifndef __AP_INERTIAL_SENSOR_USER_INTERACT_MAVLINK_H__
 #define __AP_INERTIAL_SENSOR_USER_INTERACT_MAVLINK_H__
 
+#include "AP_InertialSensor_UserInteract.h"
+
+#include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
-#include "AP_InertialSensor_UserInteract.h"
 
 class GCS_MAVLINK;
 
@@ -17,7 +19,7 @@ public:
     _gcs(gcs) {}
 
     bool blocking_read();
-    void _printf_P(const prog_char *, ...);
+    void printf(const char *, ...) FORMAT(2, 3);
 private:
     GCS_MAVLINK *_gcs;
 };

libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.cpp

@@ -17,8 +17,8 @@ bool AP_InertialSensor_UserInteractStream::blocking_read()
     return true;
 }
 
-void AP_InertialSensor_UserInteractStream::_printf_P(
-        const prog_char* fmt, ...) {
+void AP_InertialSensor_UserInteractStream::printf(
+        const char* fmt, ...) {
     va_list ap;
     va_start(ap, fmt);
     _s->vprintf(fmt, ap);

libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.h

@@ -2,6 +2,7 @@
 #ifndef __AP_INERTIAL_SENSOR_USER_INTERACT_STREAM_H__
 #define __AP_INERTIAL_SENSOR_USER_INTERACT_STREAM_H__
 
+#include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include "AP_InertialSensor_UserInteract.h"
 
@@ -15,7 +16,7 @@ public:
         _s(s) {}
 
     bool blocking_read();
-    void _printf_P(const prog_char *, ...);
+    void printf(const char*, ...) FORMAT(2, 3);
 private:
     AP_HAL::BetterStream *_s;
 };