Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 02:55:07 +08:00
Code Issues Actions 19 Packages Projects Releases Wiki Activity

sensors: switch status PX4_INFO -> PX4_INFO_RAW

Browse Source
This commit is contained in:
Daniel Agar
2022-01-17 21:22:03 -05:00
parent b1d2a0cc4e
commit dd6b7fa98f
13 changed files with 76 additions and 71 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/sensor_calibration/Accelerometer.cpp
+5 -4
View File
@@ -301,8 +301,8 @@ bool Accelerometer::ParametersSave(int desired_calibration_index, bool force)
void Accelerometer::PrintStatus() void Accelerometer::PrintStatus()
{ {
if (external()) { if (external()) {
PX4_INFO("%s %" PRIu32 PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d", " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n",
SensorString(), device_id(), enabled(), SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2), (double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0), (double)_scale(1), (double)_scale(2), (double)_scale(0), (double)_scale(1), (double)_scale(2),
@@ -310,7 +310,8 @@ void Accelerometer::PrintStatus()
rotation_enum()); rotation_enum());
} else { } else {
PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal", PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n",
SensorString(), device_id(), enabled(), SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2), (double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0), (double)_scale(1), (double)_scale(2), (double)_scale(0), (double)_scale(1), (double)_scale(2),
@@ -318,7 +319,7 @@ void Accelerometer::PrintStatus()
} }
if (_thermal_offset.norm() > 0.f) { if (_thermal_offset.norm() > 0.f) {
PX4_INFO("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id, PX4_INFO_RAW("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]\n", SensorString(), _device_id,
(double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2)); (double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2));
} }
} }
src/lib/sensor_calibration/Gyroscope.cpp
+4 -4
View File
@@ -281,22 +281,22 @@ bool Gyroscope::ParametersSave(int desired_calibration_index, bool force)
void Gyroscope::PrintStatus() void Gyroscope::PrintStatus()
{ {
if (external()) { if (external()) {
PX4_INFO("%s %" PRIu32 PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d", " EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n",
SensorString(), device_id(), enabled(), SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2), (double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_temperature, (double)_temperature,
rotation_enum()); rotation_enum());
} else { } else {
PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Internal", PX4_INFO_RAW("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n",
SensorString(), device_id(), enabled(), SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2), (double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_temperature); (double)_temperature);
} }
if (_thermal_offset.norm() > 0.f) { if (_thermal_offset.norm() > 0.f) {
PX4_INFO("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id, PX4_INFO_RAW("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]\n", SensorString(), _device_id,
(double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2)); (double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2));
} }
} }
src/lib/sensor_calibration/Magnetometer.cpp
+4 -3
View File
@@ -301,8 +301,8 @@ bool Magnetometer::ParametersSave(int desired_calibration_index, bool force)
void Magnetometer::PrintStatus() void Magnetometer::PrintStatus()
{ {
if (external()) { if (external()) {
PX4_INFO("%s %" PRIu32 PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d", " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n",
SensorString(), device_id(), enabled(), SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2), (double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2), (double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2),
@@ -310,7 +310,8 @@ void Magnetometer::PrintStatus()
rotation_enum()); rotation_enum());
} else { } else {
PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal", PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n",
SensorString(), device_id(), enabled(), SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2), (double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2), (double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2),
src/modules/sensors/data_validator/DataValidator.cpp
+2 -2
View File
@@ -142,12 +142,12 @@ float DataValidator::confidence(uint64_t timestamp)
void DataValidator::print() void DataValidator::print()
{ {
if (_time_last == 0) { if (_time_last == 0) {
PX4_INFO("\tno data"); PX4_INFO_RAW("\tno data\n");
return; return;
} }
for (unsigned i = 0; i < dimensions; i++) { for (unsigned i = 0; i < dimensions; i++) {
PX4_INFO("\tval: %8.4f, lp: %8.4f mean dev: %8.4f RMS: %8.4f conf: %8.4f", (double)_value[i], PX4_INFO_RAW("\tval: %8.4f, lp: %8.4f mean dev: %8.4f RMS: %8.4f conf: %8.4f\n", (double)_value[i],
(double)_lp[i], (double)_mean[i], (double)_rms[i], (double)confidence(hrt_absolute_time())); (double)_lp[i], (double)_mean[i], (double)_rms[i], (double)confidence(hrt_absolute_time()));
} }
} }
src/modules/sensors/data_validator/DataValidatorGroup.cpp
+2 -2
View File
@@ -225,7 +225,7 @@ float *DataValidatorGroup::get_best(uint64_t timestamp, int *index)
void DataValidatorGroup::print() void DataValidatorGroup::print()
{ {
PX4_INFO("validator: best: %d, prev best: %d, failsafe: %s (%u events)", _curr_best, _prev_best, PX4_INFO_RAW("validator: best: %d, prev best: %d, failsafe: %s (%u events)\n", _curr_best, _prev_best,
(_toggle_count > 0) ? "YES" : "NO", _toggle_count); (_toggle_count > 0) ? "YES" : "NO", _toggle_count);
DataValidator *next = _first; DataValidator *next = _first;
@@ -235,7 +235,7 @@ void DataValidatorGroup::print()
if (next->used()) { if (next->used()) {
uint32_t flags = next->state(); uint32_t flags = next->state();
PX4_INFO("sensor #%u, prio: %d, state:%s%s%s%s%s%s", i, next->priority(), PX4_INFO_RAW("sensor #%u, prio: %d, state:%s%s%s%s%s%s\n", i, next->priority(),
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""), ((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""), ((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TOUT" : ""), ((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TOUT" : ""),
src/modules/sensors/sensors.cpp
+1 -1
View File
@@ -769,7 +769,7 @@ int Sensors::print_status()
} }
PX4_INFO_RAW("\n"); PX4_INFO_RAW("\n");
PX4_INFO("Airspeed status:"); PX4_INFO_RAW("Airspeed status:\n");
_airspeed_validator.print(); _airspeed_validator.print();
PX4_INFO_RAW("\n"); PX4_INFO_RAW("\n");
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
+1 -1
View File
@@ -256,7 +256,7 @@ void VehicleAcceleration::Run()
void VehicleAcceleration::PrintStatus() void VehicleAcceleration::PrintStatus()
{ {
PX4_INFO("selected sensor: %" PRIu32 ", rate: %.1f Hz, estimated bias: [%.4f %.4f %.4f]", PX4_INFO_RAW("[vehicle_acceleration] selected sensor: %" PRIu32 ", rate: %.1f Hz, estimated bias: [%.4f %.4f %.4f]\n",
_calibration.device_id(), (double)_filter_sample_rate, _calibration.device_id(), (double)_filter_sample_rate,
(double)_bias(0), (double)_bias(1), (double)_bias(2)); (double)_bias(0), (double)_bias(1), (double)_bias(2));
src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
+3 -2
View File
@@ -338,11 +338,12 @@ void VehicleAirData::Run()
void VehicleAirData::PrintStatus() void VehicleAirData::PrintStatus()
{ {
if (_selected_sensor_sub_index >= 0) { if (_selected_sensor_sub_index >= 0) {
PX4_INFO("selected barometer: %" PRIu32 " (%" PRId8 ")", _last_data[_selected_sensor_sub_index].device_id, PX4_INFO_RAW("[vehicle_air_data] selected barometer: %" PRIu32 " (%" PRId8 ")\n",
_last_data[_selected_sensor_sub_index].device_id,
_selected_sensor_sub_index); _selected_sensor_sub_index);
if (fabsf(_thermal_offset[_selected_sensor_sub_index]) > 0.f) { if (fabsf(_thermal_offset[_selected_sensor_sub_index]) > 0.f) {
PX4_INFO("%" PRIu32 " temperature offset: %.4f", _last_data[_selected_sensor_sub_index].device_id, PX4_INFO_RAW("%" PRIu32 " temperature offset: %.4f\n", _last_data[_selected_sensor_sub_index].device_id,
(double)_thermal_offset[_selected_sensor_sub_index]); (double)_thermal_offset[_selected_sensor_sub_index]);
} }
} }
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+2 -1
View File
@@ -860,7 +860,8 @@ bool VehicleAngularVelocity::CalibrateAndPublish(const hrt_abstime &timestamp_sa
void VehicleAngularVelocity::PrintStatus() void VehicleAngularVelocity::PrintStatus()
{ {
PX4_INFO("selected sensor: %" PRIu32 ", rate: %.1f Hz %s, estimated bias: [%.5f %.5f %.5f]", PX4_INFO_RAW("[vehicle_angular_velocity] selected sensor: %" PRIu32
", rate: %.1f Hz %s, estimated bias: [%.5f %.5f %.5f]\n",
_calibration.device_id(), (double)_filter_sample_rate_hz, _fifo_available ? "FIFO" : "", _calibration.device_id(), (double)_filter_sample_rate_hz, _fifo_available ? "FIFO" : "",
(double)_bias(0), (double)_bias(1), (double)_bias(2)); (double)_bias(0), (double)_bias(1), (double)_bias(2));
src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp
+1 -1
View File
@@ -176,7 +176,7 @@ void VehicleGPSPosition::Publish(const sensor_gps_s &gps, uint8_t selected)
void VehicleGPSPosition::PrintStatus() void VehicleGPSPosition::PrintStatus()
{ {
//PX4_INFO("selected GPS: %d", _gps_select_index); //PX4_INFO_RAW("[vehicle_gps_position] selected GPS: %d\n", _gps_select_index);
} }
}; // namespace sensors }; // namespace sensors
src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+2 -2
View File
@@ -701,8 +701,8 @@ void VehicleIMU::UpdateGyroVibrationMetrics(const Vector3f &angular_velocity)
void VehicleIMU::PrintStatus() void VehicleIMU::PrintStatus()
{ {
PX4_INFO("%" PRIu8 " - Accel: %" PRIu32 ", interval: %.1f us (SD %.1f us), Gyro: %" PRIu32 PX4_INFO_RAW("[vehicle_imu] %" PRIu8 " - Accel: %" PRIu32 ", interval: %.1f us (SD %.1f us), Gyro: %" PRIu32
", interval: %.1f us (SD %.1f us)", ", interval: %.1f us (SD %.1f us)\n",
_instance, _instance,
_accel_calibration.device_id(), (double)_accel_interval_us, (double)sqrtf(_accel_interval_best_variance), _accel_calibration.device_id(), (double)_accel_interval_us, (double)sqrtf(_accel_interval_best_variance),
_gyro_calibration.device_id(), (double)_gyro_interval_us, (double)sqrtf(_gyro_interval_best_variance)); _gyro_calibration.device_id(), (double)_gyro_interval_us, (double)sqrtf(_gyro_interval_best_variance));
src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+2 -1
View File
@@ -633,7 +633,8 @@ void VehicleMagnetometer::calcMagInconsistency()
void VehicleMagnetometer::PrintStatus() void VehicleMagnetometer::PrintStatus()
{ {
if (_selected_sensor_sub_index >= 0) { if (_selected_sensor_sub_index >= 0) {
PX4_INFO("selected magnetometer: %" PRIu32 " (%" PRId8 ")", _last_data[_selected_sensor_sub_index].device_id, PX4_INFO_RAW("[vehicle_magnetometer] selected magnetometer: %" PRIu32 " (%" PRId8 ")\n",
_last_data[_selected_sensor_sub_index].device_id,
_selected_sensor_sub_index); _selected_sensor_sub_index);
} }
src/modules/sensors/voted_sensors_update.cpp
+2 -2
View File
@@ -377,11 +377,11 @@ void VotedSensorsUpdate::initSensorClass(SensorData &sensor_data, uint8_t sensor
void VotedSensorsUpdate::printStatus() void VotedSensorsUpdate::printStatus()
{ {
PX4_INFO("selected gyro: %" PRIu32 " (%" PRIu8 ")", _selection.gyro_device_id, _gyro.last_best_vote); PX4_INFO_RAW("selected gyro: %" PRIu32 " (%" PRIu8 ")\n", _selection.gyro_device_id, _gyro.last_best_vote);
_gyro.voter.print(); _gyro.voter.print();
PX4_INFO_RAW("\n"); PX4_INFO_RAW("\n");
PX4_INFO("selected accel: %" PRIu32 " (%" PRIu8 ")", _selection.accel_device_id, _accel.last_best_vote); PX4_INFO_RAW("selected accel: %" PRIu32 " (%" PRIu8 ")\n", _selection.accel_device_id, _accel.last_best_vote);
_accel.voter.print(); _accel.voter.print();
} }