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Pitt-RAS · Jul 10, 2018 · 36c73ba · 36c73ba
1 parent f292196
commit 36c73ba
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Showing 3 changed files with 17 additions and 17 deletions.
diff --git a/include/iarc7_fc_comms/CommonFcComms.hpp b/include/iarc7_fc_comms/CommonFcComms.hpp
@@ -240,9 +240,9 @@ CommonFcComms<T>& CommonFcComms<T>::getInstance()
 template<class T>
 FcCommsReturns CommonFcComms<T>::init()
 {
-    ROS_INFO("fc_comms_msp: Forming bond with safety client");
+    ROS_DEBUG("fc_comms_msp: Forming bond with safety client");
     ROS_ASSERT_MSG(safety_client_.formBond(), "fc_comms_msp: Could not form bond with safety client");
-    ROS_INFO("fc_comms_msp: Formed bond with safety client");
+    ROS_DEBUG("fc_comms_msp: Formed bond with safety client");
 
     uav_arm_service = nh_.advertiseService("uav_arm",
                                        &CommonFcComms::uavArmServiceHandler,
@@ -293,7 +293,7 @@ FcCommsReturns CommonFcComms<T>::init()
                                         &CommonFcComms::landingDetectedMessageHandler,
                                         this);
 
-    ROS_INFO("FC Comms registered and subscribed to topics");
+    ROS_DEBUG("FC Comms registered and subscribed to topics");
 
     if (calibrate_accelerometer_)
     {
@@ -314,7 +314,7 @@ FcCommsReturns CommonFcComms<T>::init()
         }
         else
         {
-            ROS_INFO("FC Comms received initial landing detected message succesfully");
+            ROS_DEBUG("FC Comms received initial landing detected message succesfully");
         }
 
     }
@@ -346,7 +346,7 @@ bool CommonFcComms<T>::uavArmServiceHandler(
                 iarc7_msgs::Arm::Request& request,
                 iarc7_msgs::Arm::Response& response)
 {
-    ROS_INFO("Uav arm service handler called");
+    ROS_DEBUG("Uav arm service handler called");
 
     bool auto_pilot;
     FcCommsReturns status = flightControlImpl_.isAutoPilotAllowed(auto_pilot);
@@ -358,7 +358,7 @@ bool CommonFcComms<T>::uavArmServiceHandler(
     // If auto pilot is not enabled we have no power
     if(!auto_pilot)
     {
-        ROS_INFO("Failed to arm or disarm the FC: auto pilot is disabled");
+        ROS_ERROR("Failed to arm or disarm the FC: auto pilot is disabled");
         response.success = false;
         response.message = "disabled";
         return true;
@@ -382,7 +382,7 @@ bool CommonFcComms<T>::uavArmServiceHandler(
         if (status == FcCommsReturns::kReturnOk) {
             if(armed == request.data)
             {
-                ROS_INFO("FC arm or disarm set succesfully");
+                ROS_DEBUG("FC arm or disarm set succesfully");
 
                 status = flightControlImpl_.postArm(request.data);
                 if(status != FcCommsReturns::kReturnOk) {
@@ -401,7 +401,7 @@ bool CommonFcComms<T>::uavArmServiceHandler(
         update();
     }
 
-    ROS_INFO("Failed to arm or disarm the FC: timed out");
+    ROS_ERROR("Failed to arm or disarm the FC: timed out");
     response.success = false;
     response.message = "timed out";
     return true;
@@ -573,7 +573,7 @@ void CommonFcComms<T>::reconnect() {
 
     if(status == FcCommsReturns::kReturnOk)
     {
-        ROS_INFO("iarc7_fc_comms: Succesful reconnection to flight controller");
+        ROS_DEBUG("iarc7_fc_comms: Succesful reconnection to flight controller");
         calibrateAccelerometer();
     }
     else

diff --git a/src/Msp.cpp b/src/Msp.cpp
@@ -14,7 +14,7 @@ int main(int argc, char **argv)
 {
     ros::init(argc, argv, "FC_comms");
 
-    ROS_INFO("FC_comms begin");
+    ROS_DEBUG("FC_comms begin");
 
     CommonFcComms<MspFcComms>& fc = CommonFcComms<MspFcComms>::getInstance();
 

diff --git a/src/MspFcComms.cpp b/src/MspFcComms.cpp
@@ -233,7 +233,7 @@ FcCommsReturns MspFcComms::getAttitude(double (&attitude)[3])
 
 FcCommsReturns MspFcComms::calibrateAccelerometer()
 {
-    ROS_INFO("Starting accelerometer calibration");
+    ROS_DEBUG("Starting accelerometer calibration");
     MSP_ACC_CALIBRATION cal;
     FcCommsReturns status = sendMessage(cal);
 
@@ -248,15 +248,15 @@ FcCommsReturns MspFcComms::calibrateAccelerometer()
         rate.sleep();
     }
 
-    ROS_INFO("Done accelerometer calibration");
+    ROS_DEBUG("Done accelerometer calibration");
 
     return status;
 }
 
 // Disconnect from FC, should be called before destructor.
 FcCommsReturns MspFcComms::disconnect()
 {
-    ROS_INFO("Disconnecting from FC");
+    ROS_DEBUG("Disconnecting from FC");
 
     // Handle each connection state seperately.
     switch(fc_comms_status_)
@@ -281,7 +281,7 @@ FcCommsReturns MspFcComms::disconnect()
             return FcCommsReturns::kReturnError;
     }
 
-    ROS_INFO("Succesfull disconnection from FC");
+    ROS_DEBUG("Succesfull disconnection from FC");
 
     fc_comms_status_ = FcCommsStatus::kDisconnected;
     return FcCommsReturns::kReturnOk;
@@ -292,7 +292,7 @@ FcCommsReturns MspFcComms::connect()
 {
     try
     {
-        ROS_INFO("FC_Comms beginning connection");
+        ROS_DEBUG("FC_Comms beginning connection");
         fc_comms_status_ = FcCommsStatus::kConnecting;
 
         // Find the flight controller by the hardware ID.
@@ -325,7 +325,7 @@ FcCommsReturns MspFcComms::connect()
             rate.sleep();
         }
 
-        ROS_INFO("FC_Comms Connected to FC");
+        ROS_DEBUG("FC_Comms Connected to FC");
         fc_comms_status_ = FcCommsStatus::kConnected;
 
         return FcCommsReturns::kReturnOk;
@@ -377,7 +377,7 @@ FcCommsReturns MspFcComms::findFc(std::string& serial_port)
         // If we've found something with the same hardware id as our FC
         if(device.hardware_id == FcCommsMspConf::kHardwareId)
         {
-            ROS_INFO("FC_comms found target device.");
+            ROS_DEBUG("FC_comms found target device.");
             serial_port = device.port;
 
             // Exit loop since we've found the port