mavlink udp: avoid spamming the console when disconnecting the Network or bcast addr not found (#4611)

src/modules/commander/commander.cpp

@@ -3613,7 +3613,7 @@ void *commander_low_prio_loop(void *arg)
 					if (ret != OK) {
 						mavlink_and_console_log_critical(&mavlink_log_pub, "settings auto save error");
 					} else {
-						warnx("settings saved.");
+						PX4_INFO("commander: settings saved.");
 					}
 
 					need_param_autosave = false;

src/modules/mavlink/mavlink_main.cpp

@@ -223,6 +223,8 @@ Mavlink::Mavlink() :
 	_bcast_addr{},
 	_src_addr_initialized(false),
 	_broadcast_address_found(false),
+	_broadcast_address_not_found_warned(false),
+	_sendto_result(1),
 	_network_buf{},
 	_network_buf_len(0),
 #endif
@@ -899,9 +901,10 @@ Mavlink::send_packet()
 
 				int bret = sendto(_socket_fd, _network_buf, _network_buf_len, 0, (struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr));
 
-				if (bret <= 0) {
-					PX4_WARN("sending broadcast failed, errno: %d: %s", errno, strerror(errno));
+				if (bret <= 0 && _sendto_result > 0) {
+					PX4_ERR("sending broadcast failed, errno: %d: %s", errno, strerror(errno));
 				}
+				_sendto_result = bret;
 			}
 		}
 
@@ -1150,9 +1153,13 @@ Mavlink::find_broadcast_address()
 		if (setsockopt(_socket_fd, SOL_SOCKET, SO_BROADCAST, &broadcast_opt, sizeof(broadcast_opt)) < 0) {
 			PX4_WARN("setting broadcast permission failed");
 		}
+		_broadcast_address_not_found_warned = false;
 
 	} else {
-		PX4_WARN("no broadcasting address found");
+		if (!_broadcast_address_not_found_warned) {
+			PX4_WARN("no broadcasting address found");
+			_broadcast_address_not_found_warned = true;
+		}
 	}
 
 	delete[] ifconf.ifc_req;

src/modules/mavlink/mavlink_main.h

@@ -478,6 +478,8 @@ private:
 	struct sockaddr_in _bcast_addr;
 	bool _src_addr_initialized;
 	bool _broadcast_address_found;
+	bool _broadcast_address_not_found_warned;
+	int _sendto_result;
 	uint8_t _network_buf[MAVLINK_MAX_PACKET_LEN];
 	unsigned _network_buf_len;
 #endif

src/modules/mavlink/mavlink_mission.cpp

@@ -131,7 +131,7 @@ MavlinkMissionManager::init_offboard_mission()
 			_dataman_id = 0;
 			_count = 0;
 			_current_seq = 0;
-			warnx("offboard mission init: ERROR");
+			warnx("offboard mission init failed");
 		}
 	}
 	_my_dataman_id = _dataman_id;