Replace use of print_P() with print()

APMrover2/system.cpp

@@ -450,22 +450,22 @@ void Rover::print_mode(AP_HAL::BetterStream *port, uint8_t mode)
 {
     switch (mode) {
     case MANUAL:
-        port->print_P("Manual");
+        port->print("Manual");
         break;
     case HOLD:
-        port->print_P("HOLD");
+        port->print("HOLD");
         break;
     case LEARNING:
-        port->print_P("Learning");
+        port->print("Learning");
         break;
     case STEERING:
-        port->print_P("Steering");
+        port->print("Steering");
         break;
     case AUTO:
-        port->print_P("AUTO");
+        port->print("AUTO");
         break;
     case RTL:
-        port->print_P("RTL");
+        port->print("RTL");
         break;
     default:
         port->printf_P("Mode(%u)", (unsigned)mode);

ArduCopter/flight_mode.cpp

@@ -315,52 +315,52 @@ void Copter::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
 {
     switch (mode) {
     case STABILIZE:
-        port->print_P("STABILIZE");
+        port->print("STABILIZE");
         break;
     case ACRO:
-        port->print_P("ACRO");
+        port->print("ACRO");
         break;
     case ALT_HOLD:
-        port->print_P("ALT_HOLD");
+        port->print("ALT_HOLD");
         break;
     case AUTO:
-        port->print_P("AUTO");
+        port->print("AUTO");
         break;
     case GUIDED:
-        port->print_P("GUIDED");
+        port->print("GUIDED");
         break;
     case LOITER:
-        port->print_P("LOITER");
+        port->print("LOITER");
         break;
     case RTL:
-        port->print_P("RTL");
+        port->print("RTL");
         break;
     case CIRCLE:
-        port->print_P("CIRCLE");
+        port->print("CIRCLE");
         break;
     case LAND:
-        port->print_P("LAND");
+        port->print("LAND");
         break;
     case OF_LOITER:
-        port->print_P("OF_LOITER");
+        port->print("OF_LOITER");
         break;
     case DRIFT:
-        port->print_P("DRIFT");
+        port->print("DRIFT");
         break;
     case SPORT:
-        port->print_P("SPORT");
+        port->print("SPORT");
         break;
     case FLIP:
-        port->print_P("FLIP");
+        port->print("FLIP");
         break;
     case AUTOTUNE:
-        port->print_P("AUTOTUNE");
+        port->print("AUTOTUNE");
         break;
     case POSHOLD:
-        port->print_P("POSHOLD");
+        port->print("POSHOLD");
         break;
     case BRAKE:
-        port->print_P("BRAKE");
+        port->print("BRAKE");
         break;
     default:
         port->printf_P("Mode(%u)", (unsigned)mode);

ArduCopter/setup.cpp

@@ -460,15 +460,15 @@ void Copter::report_compass()
     }
 
     // motor compensation
-    cliSerial->print_P("Motor Comp: ");
+    cliSerial->print("Motor Comp: ");
     if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_DISABLED ) {
-        cliSerial->print_P("Off\n");
+        cliSerial->print("Off\n");
     }else{
         if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_THROTTLE ) {
-            cliSerial->print_P("Throttle");
+            cliSerial->print("Throttle");
         }
         if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_CURRENT ) {
-            cliSerial->print_P("Current");
+            cliSerial->print("Current");
         }
         Vector3f motor_compensation;
         for (uint8_t i=0; i<compass.get_count(); i++) {
@@ -494,7 +494,7 @@ void Copter::print_blanks(int16_t num)
 void Copter::print_divider(void)
 {
     for (int i = 0; i < 40; i++) {
-        cliSerial->print_P("-");
+        cliSerial->print("-");
     }
     cliSerial->println();
 }
@@ -502,10 +502,10 @@ void Copter::print_divider(void)
 void Copter::print_enabled(bool b)
 {
     if(b)
-        cliSerial->print_P("en");
+        cliSerial->print("en");
     else
-        cliSerial->print_P("dis");
-    cliSerial->print_P("abled\n");
+        cliSerial->print("dis");
+    cliSerial->print("abled\n");
 }
 
 void Copter::report_version()

ArduCopter/system.cpp

@@ -282,7 +282,7 @@ void Copter::init_ardupilot()
     // init vehicle capabilties
     init_capabilities();
 
-    cliSerial->print_P("\nReady to FLY ");
+    cliSerial->print("\nReady to FLY ");
 
     // flag that initialisation has completed
     ap.initialised = true;

ArduPlane/system.cpp

@@ -636,43 +636,43 @@ void Plane::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
 {
     switch (mode) {
     case MANUAL:
-        port->print_P("Manual");
+        port->print("Manual");
         break;
     case CIRCLE:
-        port->print_P("Circle");
+        port->print("Circle");
         break;
     case STABILIZE:
-        port->print_P("Stabilize");
+        port->print("Stabilize");
         break;
     case TRAINING:
-        port->print_P("Training");
+        port->print("Training");
         break;
     case ACRO:
-        port->print_P("ACRO");
+        port->print("ACRO");
         break;
     case FLY_BY_WIRE_A:
-        port->print_P("FBW_A");
+        port->print("FBW_A");
         break;
     case AUTOTUNE:
-        port->print_P("AUTOTUNE");
+        port->print("AUTOTUNE");
         break;
     case FLY_BY_WIRE_B:
-        port->print_P("FBW_B");
+        port->print("FBW_B");
         break;
     case CRUISE:
-        port->print_P("CRUISE");
+        port->print("CRUISE");
         break;
     case AUTO:
-        port->print_P("AUTO");
+        port->print("AUTO");
         break;
     case RTL:
-        port->print_P("RTL");
+        port->print("RTL");
         break;
     case LOITER:
-        port->print_P("Loiter");
+        port->print("Loiter");
         break;
     case GUIDED:
-        port->print_P("Guided");
+        port->print("Guided");
         break;
     default:
         port->printf_P("Mode(%u)", (unsigned)mode);
@@ -683,7 +683,7 @@ void Plane::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
 #if CLI_ENABLED == ENABLED
 void Plane::print_comma(void)
 {
-    cliSerial->print_P(",");
+    cliSerial->print(",");
 }
 #endif
 

ArduPlane/test.cpp

@@ -89,7 +89,7 @@ int8_t Plane::test_passthru(uint8_t argc, const Menu::arg *argv)
 
         // New radio frame? (we could use also if((millis()- timer) > 20)
         if (hal.rcin->new_input()) {
-            cliSerial->print_P("CH:");
+            cliSerial->print("CH:");
             for(int16_t i = 0; i < 8; i++) {
                 cliSerial->print(hal.rcin->read(i));        // Print channel values
                 print_comma();

libraries/AP_Curve/AP_Curve.cpp

@@ -85,11 +85,11 @@ void AP_Curve<T,SIZE>::dump_curve(AP_HAL::BetterStream* s)
 {
 	s->println_P("Curve:");
 	for( uint8_t i = 0; i<_num_points; i++ ){
-		s->print_P("x:");
+		s->print("x:");
 		s->print(_x[i]);
-		s->print_P("\ty:");
+		s->print("\ty:");
 		s->print(_y[i]);
-		s->print_P("\tslope:");
+		s->print("\tslope:");
 		s->print(_slope[i],4);
 		s->println();
 	}

libraries/AP_GPS/AP_GPS.cpp

@@ -200,7 +200,7 @@ AP_GPS::detect_instance(uint8_t instance)
     if (_type[instance] == GPS_TYPE_PX4) {
         // check for explicitely chosen PX4 GPS beforehand
         // it is not possible to autodetect it, nor does it require a real UART
-        hal.console->print_P(" PX4 ");
+        hal.console->print(" PX4 ");
         new_gps = new AP_GPS_PX4(*this, state[instance], _port[instance]);
         goto found_gps;
     }
@@ -218,10 +218,10 @@ AP_GPS::detect_instance(uint8_t instance)
 	#if GPS_RTK_AVAILABLE
 	// by default the sbf/trimble gps outputs no data on its port, until configured.
 	if (_type[instance] == GPS_TYPE_SBF) {
-		hal.console->print_P(" SBF ");
+		hal.console->print(" SBF ");
 		new_gps = new AP_GPS_SBF(*this, state[instance], _port[instance]);
 	} else if ((_type[instance] == GPS_TYPE_GSOF)) {
-		hal.console->print_P(" GSOF ");
+		hal.console->print(" GSOF ");
 		new_gps = new AP_GPS_GSOF(*this, state[instance], _port[instance]);
 	}
 	#endif // GPS_RTK_AVAILABLE
@@ -265,23 +265,23 @@ AP_GPS::detect_instance(uint8_t instance)
         if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_UBLOX) &&
             pgm_read_dword(&_baudrates[dstate->last_baud]) >= 38400 && 
             AP_GPS_UBLOX::_detect(dstate->ublox_detect_state, data)) {
-            hal.console->print_P(" ublox ");
+            hal.console->print(" ublox ");
             new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance]);
         } 
 		else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_MTK19) &&
                  AP_GPS_MTK19::_detect(dstate->mtk19_detect_state, data)) {
-			hal.console->print_P(" MTK19 ");
+			hal.console->print(" MTK19 ");
 			new_gps = new AP_GPS_MTK19(*this, state[instance], _port[instance]);
 		} 
 		else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_MTK) &&
                  AP_GPS_MTK::_detect(dstate->mtk_detect_state, data)) {
-			hal.console->print_P(" MTK ");
+			hal.console->print(" MTK ");
 			new_gps = new AP_GPS_MTK(*this, state[instance], _port[instance]);
 		}
 #if GPS_RTK_AVAILABLE
         else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) &&
                  AP_GPS_SBP::_detect(dstate->sbp_detect_state, data)) {
-            hal.console->print_P(" SBP ");
+            hal.console->print(" SBP ");
             new_gps = new AP_GPS_SBP(*this, state[instance], _port[instance]);
         }
 #endif // HAL_CPU_CLASS
@@ -289,7 +289,7 @@ AP_GPS::detect_instance(uint8_t instance)
 		// save a bit of code space on a 1280
 		else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SIRF) &&
                  AP_GPS_SIRF::_detect(dstate->sirf_detect_state, data)) {
-			hal.console->print_P(" SIRF ");
+			hal.console->print(" SIRF ");
 			new_gps = new AP_GPS_SIRF(*this, state[instance], _port[instance]);
 		}
 		else if (now - dstate->detect_started_ms > (ARRAY_SIZE(_baudrates) * GPS_BAUD_TIME_MS)) {
@@ -297,7 +297,7 @@ AP_GPS::detect_instance(uint8_t instance)
 			// a MTK or UBLOX which has booted in NMEA mode
 			if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_NMEA) &&
                 AP_GPS_NMEA::_detect(dstate->nmea_detect_state, data)) {
-				hal.console->print_P(" NMEA ");
+				hal.console->print(" NMEA ");
 				new_gps = new AP_GPS_NMEA(*this, state[instance], _port[instance]);
 			}
 		}

libraries/AP_HAL_FLYMAPLE/AnalogIn.cpp

@@ -52,7 +52,7 @@ FLYMAPLEAnalogSource* FLYMAPLEAnalogIn::_create_channel(int16_t chnum) {
 void FLYMAPLEAnalogIn::_register_channel(FLYMAPLEAnalogSource* ch) {
     if (_num_channels >= FLYMAPLE_INPUT_MAX_CHANNELS) {
         for(;;) {
-            hal.console->print_P(
+            hal.console->print(
                 "Error: AP_HAL_FLYMAPLE::FLYMAPLEAnalogIn out of channels\r\n");
             hal.scheduler->delay(1000);
         }

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -922,7 +922,7 @@ AP_InertialSensor::_init_gyro()
     AP_Notify::flags.initialising = true;
 
     // cold start
-    hal.console->print_P("Init Gyro");
+    hal.console->print("Init Gyro");
 
     /*
       we do the gyro calibration with no board rotation. This avoids
@@ -961,7 +961,7 @@ AP_InertialSensor::_init_gyro()
 
         memset(diff_norm, 0, sizeof(diff_norm));
 
-        hal.console->print_P("*");
+        hal.console->print("*");
 
         for (uint8_t k=0; k<num_gyros; k++) {
             gyro_sum[k].zero();

libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp

@@ -96,7 +96,7 @@ bool MissionTest::verify_cmd(const AP_Mission::Mission_Command& cmd)
 // mission_complete - function that is called once the mission completes
 void MissionTest::mission_complete(void)
 {
-    hal.console->print_P("\nMission Complete!\n");
+    hal.console->print("\nMission Complete!\n");
 }
 
 // run_mission_test - tests the stop and resume feature
@@ -149,7 +149,7 @@ void MissionTest::run_mission_test()
     print_mission();
 
     // start mission
-    hal.console->print_P("\nRunning missions\n");
+    hal.console->print("\nRunning missions\n");
     mission.start();
 
     // update mission forever
@@ -174,7 +174,7 @@ void MissionTest::init_mission()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
@@ -185,7 +185,7 @@ void MissionTest::init_mission()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #2 : first waypoint
@@ -196,7 +196,7 @@ void MissionTest::init_mission()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #3 : second waypoint
@@ -206,7 +206,7 @@ void MissionTest::init_mission()
     cmd.content.location.lng = -1234567890;
     cmd.content.location.alt = 22;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #4 : do-jump to first waypoint 3 times
@@ -214,7 +214,7 @@ void MissionTest::init_mission()
     cmd.content.jump.target = 2;
     cmd.content.jump.num_times = 1;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #5 : RTL
@@ -224,7 +224,7 @@ void MissionTest::init_mission()
     cmd.content.location.lng = 0;
     cmd.content.location.alt = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 }
 
@@ -245,7 +245,7 @@ void MissionTest::init_mission_no_nav_commands()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #1 : "do" command
@@ -256,7 +256,7 @@ void MissionTest::init_mission_no_nav_commands()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #2 : "do" command
@@ -267,13 +267,13 @@ void MissionTest::init_mission_no_nav_commands()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #3 : "do" command
     cmd.id = MAV_CMD_DO_SET_SERVO;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #4 : do-jump to first command 3 times
@@ -281,7 +281,7 @@ void MissionTest::init_mission_no_nav_commands()
     cmd.content.jump.target = 1;
     cmd.content.jump.num_times = 1;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 }
 
@@ -302,7 +302,7 @@ void MissionTest::init_mission_endless_loop()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #1 : do-jump command to itself
@@ -310,7 +310,7 @@ void MissionTest::init_mission_endless_loop()
     cmd.content.jump.target = 1;
     cmd.content.jump.num_times = 2;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #2 : take-off to 10m
@@ -321,7 +321,7 @@ void MissionTest::init_mission_endless_loop()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #3 : waypoint
@@ -332,7 +332,7 @@ void MissionTest::init_mission_endless_loop()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 }
 
@@ -354,7 +354,7 @@ void MissionTest::init_mission_jump_to_nonnav()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
@@ -365,7 +365,7 @@ void MissionTest::init_mission_jump_to_nonnav()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #2 : do-roi command
@@ -376,7 +376,7 @@ void MissionTest::init_mission_jump_to_nonnav()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #3 : do-jump command to #2
@@ -384,7 +384,7 @@ void MissionTest::init_mission_jump_to_nonnav()
     cmd.content.jump.target = 2;
     cmd.content.jump.num_times = 2;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #4 : waypoint
@@ -395,7 +395,7 @@ void MissionTest::init_mission_jump_to_nonnav()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 }
 
@@ -418,7 +418,7 @@ void MissionTest::init_mission_starts_with_do_commands()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #1 : First "do" command
@@ -429,7 +429,7 @@ void MissionTest::init_mission_starts_with_do_commands()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #2 : Second "do" command
@@ -440,7 +440,7 @@ void MissionTest::init_mission_starts_with_do_commands()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #3 : take-off to 10m
@@ -451,7 +451,7 @@ void MissionTest::init_mission_starts_with_do_commands()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #4 : Third "do" command
@@ -462,7 +462,7 @@ void MissionTest::init_mission_starts_with_do_commands()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #5 : waypoint
@@ -473,7 +473,7 @@ void MissionTest::init_mission_starts_with_do_commands()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 }
 
@@ -495,7 +495,7 @@ void MissionTest::init_mission_ends_with_do_commands()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
@@ -506,7 +506,7 @@ void MissionTest::init_mission_ends_with_do_commands()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #2 : "do" command
@@ -517,7 +517,7 @@ void MissionTest::init_mission_ends_with_do_commands()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #3 : waypoint
@@ -528,7 +528,7 @@ void MissionTest::init_mission_ends_with_do_commands()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #4 : "do" command after last nav command (but not at end of mission)
@@ -539,7 +539,7 @@ void MissionTest::init_mission_ends_with_do_commands()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #5 : "do" command at end of mission
@@ -550,7 +550,7 @@ void MissionTest::init_mission_ends_with_do_commands()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 }
 
@@ -571,7 +571,7 @@ void MissionTest::init_mission_ends_with_jump_command()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
@@ -582,7 +582,7 @@ void MissionTest::init_mission_ends_with_jump_command()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #2 : "do" command
@@ -593,7 +593,7 @@ void MissionTest::init_mission_ends_with_jump_command()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #3 : waypoint
@@ -604,7 +604,7 @@ void MissionTest::init_mission_ends_with_jump_command()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #4 : "do" command after last nav command (but not at end of mission)
@@ -615,7 +615,7 @@ void MissionTest::init_mission_ends_with_jump_command()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #5 : "do" command at end of mission
@@ -626,7 +626,7 @@ void MissionTest::init_mission_ends_with_jump_command()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #6 : do-jump command to #2 two times
@@ -634,7 +634,7 @@ void MissionTest::init_mission_ends_with_jump_command()
     cmd.content.jump.target = 3;
     cmd.content.jump.num_times = 2;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 }
 
@@ -692,7 +692,7 @@ void MissionTest::run_resume_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
@@ -703,7 +703,7 @@ void MissionTest::run_resume_test()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #2 : first waypoint
@@ -714,7 +714,7 @@ void MissionTest::run_resume_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #3 : second waypoint
@@ -724,7 +724,7 @@ void MissionTest::run_resume_test()
     cmd.content.location.lng = -1234567890;
     cmd.content.location.alt = 22;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #4 : do command
@@ -735,7 +735,7 @@ void MissionTest::run_resume_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #5 : RTL
@@ -745,7 +745,7 @@ void MissionTest::run_resume_test()
     cmd.content.location.lng = 0;
     cmd.content.location.alt = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // print current mission
@@ -798,7 +798,7 @@ void MissionTest::run_set_current_cmd_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
@@ -809,7 +809,7 @@ void MissionTest::run_set_current_cmd_test()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #2 : do command
@@ -820,7 +820,7 @@ void MissionTest::run_set_current_cmd_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #3 : first waypoint
@@ -831,7 +831,7 @@ void MissionTest::run_set_current_cmd_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #4 : second waypoint
@@ -841,7 +841,7 @@ void MissionTest::run_set_current_cmd_test()
     cmd.content.location.lng = -1234567890;
     cmd.content.location.alt = 22;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #5 : do command
@@ -852,7 +852,7 @@ void MissionTest::run_set_current_cmd_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #6 : RTL
@@ -862,7 +862,7 @@ void MissionTest::run_set_current_cmd_test()
     cmd.content.location.lng = 0;
     cmd.content.location.alt = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // print current mission
@@ -903,7 +903,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
@@ -914,7 +914,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #2 : do command
@@ -925,7 +925,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #3 : first waypoint
@@ -936,7 +936,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #4 : second waypoint
@@ -946,7 +946,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
     cmd.content.location.lng = -1234567890;
     cmd.content.location.alt = 22;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #5 : do command
@@ -957,7 +957,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #6 : RTL
@@ -967,7 +967,7 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
     cmd.content.location.lng = 0;
     cmd.content.location.alt = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // print current mission
@@ -1040,7 +1040,7 @@ void MissionTest::run_replace_cmd_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
@@ -1051,7 +1051,7 @@ void MissionTest::run_replace_cmd_test()
     cmd.content.location.lat = 0;
     cmd.content.location.lng = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #2 : do command
@@ -1062,7 +1062,7 @@ void MissionTest::run_replace_cmd_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #3 : first waypoint
@@ -1073,7 +1073,7 @@ void MissionTest::run_replace_cmd_test()
     cmd.content.location.lat = 12345678;
     cmd.content.location.lng = 23456789;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #4 : second waypoint
@@ -1083,7 +1083,7 @@ void MissionTest::run_replace_cmd_test()
     cmd.content.location.lng = -1234567890;
     cmd.content.location.alt = 22;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // Command #6 : RTL
@@ -1093,7 +1093,7 @@ void MissionTest::run_replace_cmd_test()
     cmd.content.location.lng = 0;
     cmd.content.location.alt = 0;
     if (!mission.add_cmd(cmd)) {
-        hal.console->print_P("failed to add command\n");
+        hal.console->print("failed to add command\n");
     }
 
     // print current mission

libraries/AP_Notify/examples/ToshibaLED_test/ToshibaLED_test.cpp

@@ -15,14 +15,14 @@ static ToshibaLED_I2C toshiba_led;
 void setup(void)
 {
     // display welcome message
-    hal.console->print_P("Toshiba LED test ver 0.1\n");
+    hal.console->print("Toshiba LED test ver 0.1\n");
 
     // initialise LED
     toshiba_led.init();
 
     // check if healthy
     if (!toshiba_led.healthy()) {
-        hal.console->print_P("Failed to initialise Toshiba LED\n");
+        hal.console->print("Failed to initialise Toshiba LED\n");
     }
 
     // turn on initialising notification
@@ -36,11 +36,11 @@ void setup(void)
 void loop(void)
 {
     // blink test
-    //hal.console->print_P("Blink test\n");
+    //hal.console->print("Blink test\n");
     //blink();
     /*
     // full spectrum test
-    hal.console->print_P("Spectrum test\n");
+    hal.console->print("Spectrum test\n");
     full_spectrum();
     */
 

libraries/AP_PerfMon/AP_PerfMon_test/AP_PerfMon_test.cpp

@@ -22,7 +22,7 @@ void setup()
 {
   AP_PERFMON_FUNCTION(setup)
 
-  hal.console->print_P("Performance Monitor test v1.1\n");
+  hal.console->print("Performance Monitor test v1.1\n");
 }
 
 void loop()