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AP_Compass: use GCS_SEND_TEXT()

zr-v5.1
Andrew Tridgell 5 years ago
parent
40f1b5f9ae
commit
660f65e6b8
1 changed files with 6 additions and 5 deletions
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  1. 11
      libraries/AP_Compass/CompassCalibrator.cpp

11
libraries/AP_Compass/CompassCalibrator.cpp
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@ -878,15 +878,16 @@ bool CompassCalibrator::calculate_orientation(void) @@ -878,15 +878,16 @@ bool CompassCalibrator::calculate_orientation(void)
pass = _orientation_confidence > variance_threshold;
}
if (!pass) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Mag(%u) bad orientation: %u/%u %.1f", _compass_idx,
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Mag(%u) bad orientation: %u/%u %.1f", _compass_idx,
besti, besti2, (double)_orientation_confidence);
(void)besti2;
} else if (besti == _orientation) {
// no orientation change
gcs().send_text(MAV_SEVERITY_INFO, "Mag(%u) good orientation: %u %.1f", _compass_idx, besti, (double)_orientation_confidence);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mag(%u) good orientation: %u %.1f", _compass_idx, besti, (double)_orientation_confidence);
} else if (!_is_external || !_fix_orientation) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Mag(%u) internal bad orientation: %u %.1f", _compass_idx, besti, (double)_orientation_confidence);
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Mag(%u) internal bad orientation: %u %.1f", _compass_idx, besti, (double)_orientation_confidence);
} else {
gcs().send_text(MAV_SEVERITY_INFO, "Mag(%u) new orientation: %u was %u %.1f", _compass_idx, besti, _orientation, (double)_orientation_confidence);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mag(%u) new orientation: %u was %u %.1f", _compass_idx, besti, _orientation, (double)_orientation_confidence);
}
if (!pass) {
@ -956,7 +957,7 @@ bool CompassCalibrator::fix_radius(void) @@ -956,7 +957,7 @@ bool CompassCalibrator::fix_radius(void)
if (correction > COMPASS_MAX_SCALE_FACTOR || correction < COMPASS_MIN_SCALE_FACTOR) {
// don't allow more than 30% scale factor correction
gcs().send_text(MAV_SEVERITY_ERROR, "Mag(%u) bad radius %.0f expected %.0f",
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Mag(%u) bad radius %.0f expected %.0f",
_compass_idx,
_params.radius,
expected_radius);

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