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mavlink_command_sender: add some log printfs

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This improves the printfs which will be logged. This should improve to
debug the camera triggering. The debug printfs are disabled by default.
This commit is contained in:
Julian Oes
2017-07-21 13:10:02 +08:00
parent 31edab6d6d
commit ba150566c6
2 changed files with 14 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_command_sender.cpp
+13 -10
View File
@@ -74,7 +74,7 @@ MavlinkCommandSender::~MavlinkCommandSender()
int MavlinkCommandSender::handle_vehicle_command(const struct vehicle_command_s &command, mavlink_channel_t channel)
{
lock();
CMD_DEBUG("getting vehicle command with timestamp %" PRIu64 ", channel: %d", command.timestamp, channel);
CMD_DEBUG("new command: %d (channel: %d)", command.command, channel);
mavlink_command_long_t msg = {};
msg.target_system = command.target_system;
@@ -98,10 +98,7 @@ int MavlinkCommandSender::handle_vehicle_command(const struct vehicle_command_s
// We should activate the channel by setting num_sent_per_channel from -1 to 0.
item->num_sent_per_channel[channel] = 0;
CMD_DEBUG("already existing");
already_existing = true;
break;
}
}
@@ -123,7 +120,7 @@ int MavlinkCommandSender::handle_vehicle_command(const struct vehicle_command_s
void MavlinkCommandSender::handle_mavlink_command_ack(const mavlink_command_ack_t &ack,
uint8_t from_sysid, uint8_t from_compid)
{
CMD_DEBUG("handling result %d for command %d: %d from %d",
CMD_DEBUG("handling result %d for command %d (from %d:%d)",
ack.result, ack.command, from_sysid, from_compid);
lock();
@@ -185,8 +182,11 @@ void MavlinkCommandSender::check_timeout(mavlink_channel_t channel)
mavlink_msg_command_long_send_struct(channel, &item->command);
item->num_sent_per_channel[channel]++;
CMD_DEBUG("%p timeout (behind), retries: %d/%d, channel: %d",
item, item->num_sent_per_channel[channel], max_sent, channel);
CMD_DEBUG("command %d sent (not first, retries: %d/%d, channel: %d)",
item->command.command,
item->num_sent_per_channel[channel],
max_sent,
channel);
} else if (item->num_sent_per_channel[channel] == max_sent &&
min_sent == max_sent) {
@@ -194,8 +194,8 @@ void MavlinkCommandSender::check_timeout(mavlink_channel_t channel)
// If the next retry would be above the needed retries anyway, we can
// drop the item, and continue with other items.
if (item->num_sent_per_channel[channel] + 1 > RETRIES) {
CMD_DEBUG("command %d dropped", item->command.command);
_commands.drop_current();
CMD_DEBUG("%p, timeout dropped", item);
continue;
}
@@ -205,8 +205,11 @@ void MavlinkCommandSender::check_timeout(mavlink_channel_t channel)
// Therefore, we are the ones setting the timestamp of this retry round.
item->last_time_sent_us = hrt_absolute_time();
CMD_DEBUG("%p timeout (first), retries: %d/%d, channel: %d",
item, item->num_sent_per_channel[channel], max_sent, channel);
CMD_DEBUG("command %d sent (first, retries: %d/%d, channel: %d)",
item->command.command,
item->num_sent_per_channel[channel],
max_sent,
channel);
} else {
// We are already ahead, so this should not happen.
src/modules/mavlink/mavlink_command_sender.h
+1 -1
View File
@@ -108,7 +108,7 @@ private:
mavlink_command_long_t command = {};
hrt_abstime timestamp_us = 0;
hrt_abstime last_time_sent_us = 0;
int8_t num_sent_per_channel[MAX_MAVLINK_CHANNEL] = {-1, -1, -1, -1};
int8_t num_sent_per_channel[MAX_MAVLINK_CHANNEL] = { -1, -1, -1, -1};
} command_item_t;
TimestampedList<command_item_t> _commands;