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AP_Winch fix verbose user output when using pos control #25212

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merged 3 commits into from
Oct 30, 2023
Merged

AP_Winch fix verbose user output when using pos control #25212

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214463c
AP_OpenDroneID: fix comment typo
rmackay9 Oct 9, 2023
a3b7b74
AP_Winch: fix daiwa unknown spelling
rmackay9 Oct 9, 2023
296de86
AP_Winch: pos control user output fix
rmackay9 Oct 9, 2023
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8 changes: 4 additions & 4 deletions libraries/AP_OpenDroneID/AP_OpenDroneID.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -554,7 +554,7 @@ void AP_OpenDroneID::send_operator_id_message()
*/
MAV_ODID_HOR_ACC AP_OpenDroneID::create_enum_horizontal_accuracy(float accuracy) const
{
// Out of bounds return UKNOWN flag
// Out of bounds return UNKNOWN flag
if (accuracy < 0.0 || accuracy >= 18520.0) {
return MAV_ODID_HOR_ACC_UNKNOWN;
}
Expand Down Expand Up @@ -595,7 +595,7 @@ MAV_ODID_HOR_ACC AP_OpenDroneID::create_enum_horizontal_accuracy(float accuracy)
*/
MAV_ODID_VER_ACC AP_OpenDroneID::create_enum_vertical_accuracy(float accuracy) const
{
// Out of bounds return UKNOWN flag
// Out of bounds return UNKNOWN flag
if (accuracy < 0.0 || accuracy >= 150.0) {
return MAV_ODID_VER_ACC_UNKNOWN;
}
Expand Down Expand Up @@ -630,7 +630,7 @@ MAV_ODID_VER_ACC AP_OpenDroneID::create_enum_vertical_accuracy(float accuracy) c
*/
MAV_ODID_SPEED_ACC AP_OpenDroneID::create_enum_speed_accuracy(float accuracy) const
{
// Out of bounds return UKNOWN flag
// Out of bounds return UNKNOWN flag
if (accuracy < 0.0 || accuracy >= 10.0) {
return MAV_ODID_SPEED_ACC_UNKNOWN;
}
Expand All @@ -657,7 +657,7 @@ MAV_ODID_SPEED_ACC AP_OpenDroneID::create_enum_speed_accuracy(float accuracy) co
*/
MAV_ODID_TIME_ACC AP_OpenDroneID::create_enum_timestamp_accuracy(float accuracy) const
{
// Out of bounds return UKNOWN flag
// Out of bounds return UNKNOWN flag
if (accuracy < 0.0 || accuracy >= 1.5) {
return MAV_ODID_TIME_ACC_UNKNOWN;
}
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Winch/AP_Winch.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,7 @@ void AP_Winch::release_length(float length)

// display verbose output to user
if (backend->option_enabled(Options::VerboseOutput)) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Winch: lowering %4.1fm to %4.1fm", (double)length, (double)config.length_desired);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Winch: %s %4.1fm to %4.1fm", is_negative(length) ? "raising" : "lowering", (double)fabsf(length), (double)config.length_desired);
}
}

Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_Winch/AP_Winch_Daiwa.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -344,7 +344,7 @@ void AP_Winch_Daiwa::update_user()
if (latest.moving < ARRAY_SIZE(moving_str)) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s %s", send_text_prefix, moving_str[latest.moving]);
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s move state uknown", send_text_prefix);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s move state unknown", send_text_prefix);
}
update_sent = true;
}
Expand All @@ -357,7 +357,7 @@ void AP_Winch_Daiwa::update_user()
if (user_update.clutch < ARRAY_SIZE(clutch_str)) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s clutch %s", send_text_prefix, clutch_str[latest.moving]);
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s clutch state uknown", send_text_prefix);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s clutch state unknown", send_text_prefix);
}
update_sent = true;
}
Expand Down