From fbebec5d0f0709a8e10cd7d71120ee6279844ddb Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 8 Jul 2017 14:02:47 -0400 Subject: [PATCH] navigator log RTL messages and don't print global timeout --- src/modules/navigator/navigator_main.cpp | 3 +-- src/modules/navigator/rtl.cpp | 30 ++++++++++++------------ 2 files changed, 16 insertions(+), 17 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index f124ccfdca..420efaa071 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -286,14 +286,13 @@ Navigator::task_main() /* timed out - periodic check for _task_should_exit, etc. */ if (global_pos_available_once) { global_pos_available_once = false; - PX4_WARN("global position timeout"); } /* Let the loop run anyway, don't do `continue` here. */ } else if (pret < 0) { /* this is undesirable but not much we can do - might want to flag unhappy status */ - PX4_ERR("nav: poll error %d, %d", pret, errno); + PX4_ERR("poll error %d, %d", pret, errno); usleep(10000); continue; diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index b9ff7c104f..e9c39634bc 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -102,7 +102,7 @@ RTL::on_activation() /* for safety reasons don't go into RTL if landed */ if (_navigator->get_land_detected()->landed) { _rtl_state = RTL_STATE_LANDED; - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Already landed, not executing RTL"); + mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "Already landed, not executing RTL"); /* if lower than return altitude, climb up first */ @@ -166,9 +166,9 @@ 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 home)", - (int)(climb_alt), - (int)(climb_alt - _navigator->get_home_position()->alt)); + mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: climb to %d m (%d m above home)", + (int)(climb_alt), + (int)(climb_alt - _navigator->get_home_position()->alt)); break; } @@ -200,9 +200,9 @@ 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 home)", - (int)(_mission_item.altitude), - (int)(_mission_item.altitude - _navigator->get_home_position()->alt)); + mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above home)", + (int)(_mission_item.altitude), + (int)(_mission_item.altitude - _navigator->get_home_position()->alt)); break; } @@ -246,9 +246,9 @@ 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 home)", - (int)(_mission_item.altitude), - (int)(_mission_item.altitude - _navigator->get_home_position()->alt)); + mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: descend to %d m (%d m above home)", + (int)(_mission_item.altitude), + (int)(_mission_item.altitude - _navigator->get_home_position()->alt)); break; } @@ -269,11 +269,11 @@ RTL::set_rtl_item() _navigator->set_can_loiter_at_sp(true); if (autoland && (get_time_inside(_mission_item) > FLT_EPSILON)) { - mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs", - (double)get_time_inside(_mission_item)); + mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs", + (double)get_time_inside(_mission_item)); } else { - mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loiter"); + mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loiter"); } break; @@ -283,14 +283,14 @@ RTL::set_rtl_item() set_land_item(&_mission_item, false); _mission_item.yaw = _navigator->get_home_position()->yaw; - mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at home"); + mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at home"); break; } case RTL_STATE_LANDED: { set_idle_item(&_mission_item); - mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, landed"); + mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, landed"); break; }