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RTL: Set RTL messages to info so they do not distract the user from the actual operation

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Lorenz Meier
2016-05-10 12:40:59 +02:00
parent 098db8595f
commit 86a5244bc9
1 changed files with 9 additions and 9 deletions
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src/modules/navigator/rtl.cpp
+9 -9
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -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(), "no RTL when landed");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Already landed, not executing RTL");
/* if lower than return altitude, climb up first */
} else if (home_dist > _param_rtl_min_dist.get() && _navigator->get_global_position()->alt < _navigator->get_home_position()->alt
@@ -163,7 +163,7 @@ RTL::set_rtl_item()
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: climb to %d m (%d m above home)",
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));
break;
@@ -205,7 +205,7 @@ RTL::set_rtl_item()
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above home)",
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));
@@ -255,7 +255,7 @@ RTL::set_rtl_item()
/* disable previous setpoint to prevent drift */
pos_sp_triplet->previous.valid = false;
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: descend to %d m (%d m above home)",
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));
break;
@@ -280,10 +280,10 @@ RTL::set_rtl_item()
_navigator->set_can_loiter_at_sp(true);
if (autoland && (_mission_item.time_inside > FLT_EPSILON)) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs", (double)_mission_item.time_inside);
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs", (double)_mission_item.time_inside);
} else {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: completed, loiter");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loiter");
}
break;
}
@@ -292,14 +292,14 @@ RTL::set_rtl_item()
_mission_item.yaw = _navigator->get_home_position()->yaw;
set_land_item(&_mission_item, false);
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: land at home");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at home");
break;
}
case RTL_STATE_LANDED: {
set_idle_item(&_mission_item);
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: completed, landed");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, landed");
break;
}