rtl: switch to events

src/modules/navigator/rtl.cpp

@@ -43,6 +43,7 @@
 #include "rtl.h"
 #include "navigator.h"
 #include <dataman/dataman.h>
+#include <px4_platform_common/events.h>
 
 #include <lib/ecl/geo/geo.h>
 
@@ -210,7 +211,9 @@ void RTL::find_RTL_destination()
 			break;
 
 		default:
-			mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: unsupported MAV_FRAME");
+			mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: unsupported MAV_FRAME\t");
+			events::send<uint8_t>(events::ID("rtl_unsupported_mav_frame"), events::Log::Error, "RTL: unsupported MAV_FRAME ({1})",
+					      closest_safe_point.frame);
 			break;
 		}
 	}
@@ -243,15 +246,18 @@ void RTL::on_activation()
 	// output the correct message, depending on where the RTL destination is
 	switch (_destination.type) {
 	case RTL_DESTINATION_HOME:
-		mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at home position.");
+		mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at home position.\t");
+		events::send(events::ID("rtl_land_at_home"), events::Log::Info, "RTL: landing at home position");
 		break;
 
 	case RTL_DESTINATION_MISSION_LANDING:
-		mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at mission landing.");
+		mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at mission landing.\t");
+		events::send(events::ID("rtl_land_at_mission"), events::Log::Info, "RTL: landing at mission landing");
 		break;
 
 	case RTL_DESTINATION_SAFE_POINT:
-		mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at safe landing point.");
+		mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: landing at safe landing point.\t");
+		events::send(events::ID("rtl_land_at_safe_point"), events::Log::Info, "RTL: landing at safe landing point");
 		break;
 	}
 
@@ -318,12 +324,15 @@ void RTL::set_rtl_item()
 	if (_destination.type == RTL_DESTINATION_MISSION_LANDING) {
 		if (_rtl_state > RTL_STATE_RETURN) {
 			if (_navigator->start_mission_landing()) {
-				mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: using mission landing");
+				mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: using mission landing\t");
+				events::send(events::ID("rtl_using_mission_landing"), events::Log::Info, "RTL: using mission landing");
 				return;
 
 			} else {
 				// Otherwise use regular RTL.
-				mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: unable to use mission landing");
+				mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: unable to use mission landing\t");
+				events::send(events::ID("rtl_not_using_mission_landing"), events::Log::Error,
+					     "RTL: unable to use mission landing, doing regular RTL");
 			}
 		}
 	}
@@ -360,8 +369,11 @@ void RTL::set_rtl_item()
 			_mission_item.autocontinue = true;
 			_mission_item.origin = ORIGIN_ONBOARD;
 
-			mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: climb to %d m (%d m above destination)",
+			mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: climb to %d m (%d m above destination)\t",
 					 (int)ceilf(_rtl_alt), (int)ceilf(_rtl_alt - _destination.alt));
+			events::send<int32_t, int32_t>(events::ID("rtl_climb_to"), events::Log::Info,
+						       "RTL: climb to {1m_v} ({2m_v} above destination)",
+						       (int32_t)ceilf(_rtl_alt), (int32_t)ceilf(_rtl_alt - _destination.alt));
 			break;
 		}
 
@@ -388,8 +400,11 @@ void RTL::set_rtl_item()
 			_mission_item.autocontinue = true;
 			_mission_item.origin = ORIGIN_ONBOARD;
 
-			mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above destination)",
+			mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above destination)\t",
 					 (int)ceilf(_mission_item.altitude), (int)ceilf(_mission_item.altitude - _destination.alt));
+			events::send<int32_t, int32_t>(events::ID("rtl_return_at"), events::Log::Info,
+						       "RTL: return at {1m_v} ({2m_v} above destination)",
+						       (int32_t)ceilf(_mission_item.altitude), (int32_t)ceilf(_mission_item.altitude - _destination.alt));
 
 			break;
 		}
@@ -424,8 +439,11 @@ void RTL::set_rtl_item()
 			// Disable previous setpoint to prevent drift.
 			pos_sp_triplet->previous.valid = false;
 
-			mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: descend to %d m (%d m above destination)",
+			mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: descend to %d m (%d m above destination)\t",
 					 (int)ceilf(_mission_item.altitude), (int)ceilf(_mission_item.altitude - _destination.alt));
+			events::send<int32_t, int32_t>(events::ID("rtl_descend_to"), events::Log::Info,
+						       "RTL: descend to {1m_v} ({2m_v} above destination)",
+						       (int32_t)ceilf(_mission_item.altitude), (int32_t)ceilf(_mission_item.altitude - _destination.alt));
 			break;
 		}
 
@@ -448,12 +466,14 @@ void RTL::set_rtl_item()
 
 			if (autoland) {
 				_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
-				mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs",
+				mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs\t",
 						 (double)get_time_inside(_mission_item));
+				events::send<float>(events::ID("rtl_loiter"), events::Log::Info, "RTL: loiter {1:.1}s", get_time_inside(_mission_item));
 
 			} else {
 				_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
-				mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loitering");
+				mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loitering\t");
+				events::send(events::ID("rtl_completed_loiter"), events::Log::Info, "RTL: completed, loitering");
 			}
 
 			break;
@@ -517,7 +537,8 @@ void RTL::set_rtl_item()
 				_navigator->get_precland()->on_activation();
 			}
 
-			mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at destination");
+			mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at destination\t");
+			events::send(events::ID("rtl_land_at_destination"), events::Log::Info, "RTL: land at destination");
 			break;
 		}