diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 0d0ebf7c2f0f299ffd30b492e9de17df96a4c238..929a82b8a6a39469205e23d748fac316ad4cd313 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -356,22 +356,6 @@ AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
// Global variables
////////////////////////////////////////////////////////////////////////////////
-static const char* flight_mode_strings[] = {
- "STABILIZE", // 0
- "ACRO", // 1
- "ALT_HOLD", // 2
- "AUTO", // 3
- "GUIDED", // 4
- "LOITER", // 5
- "RTL", // 6
- "CIRCLE", // 7
- "POSITION", // 8
- "LAND", // 9
- "OF_LOITER", // 10
- "TOY_M", // 11
- "TOY_A"
-}; // 12 THOR Added for additional Fligt mode
-
/* Radio values
* Channel assignments
* 1 Ailerons (rudder if no ailerons)
diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index 51b207d797450b421427a32c6c9b20e9ff2329c3..56761ff436b7918ae8f6985d26ebd7321112aebf 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -381,9 +381,9 @@ static void Log_Read_Raw()
for (int16_t y = 0; y < 6; y++) {
logvar = get_float(DataFlash.ReadLong());
Serial.print(logvar);
- Serial.print(", ");
+ Serial.print_P(PSTR(", "));
}
- Serial.println(" ");
+ Serial.println_P(PSTR(" "));
/*
float temp1 = get_float(DataFlash.ReadLong());
@@ -714,7 +714,7 @@ static void Log_Read_Iterm()
}
// read 12
temp = DataFlash.ReadInt();
- Serial.printf("%d\n", (int)temp);
+ Serial.println((int)temp);
}
@@ -846,7 +846,7 @@ static void Log_Write_Mode(byte mode)
static void Log_Read_Mode()
{
Serial.printf_P(PSTR("MOD:"));
- Serial.print(flight_mode_strings[DataFlash.ReadByte()]);
+ print_flight_mode(DataFlash.ReadByte());
Serial.printf_P(PSTR(", %d\n"),(int)DataFlash.ReadInt());
}
@@ -1041,7 +1041,7 @@ static int16_t Log_Read_Process(int16_t start_page, int16_t end_page)
log_step++;
else{
log_step = 0;
- Serial.println(".");
+ Serial.println_P(PSTR("."));
}
break;
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index cb66829df58faf7331e7845c4fb90bd88f669d6b..603c8a0887776fb75c727edef621ca4397737d04 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -990,32 +990,6 @@
// #define LOG_ATTITUDE_MED DISABLED
//#endif
-#ifndef DEBUG_PORT
- # define DEBUG_PORT 0
-#endif
-
-#if DEBUG_PORT == 0
- # define SendDebug_P(a) Serial.print_P(PSTR(a))
- # define SendDebugln_P(a) Serial.println_P(PSTR(a))
- # define SendDebug Serial.print
- # define SendDebugln Serial.println
-#elif DEBUG_PORT == 1
- # define SendDebug_P(a) Serial1.print_P(PSTR(a))
- # define SendDebugln_P(a) Serial1.println_P(PSTR(a))
- # define SendDebug Serial1.print
- # define SendDebugln Serial1.println
-#elif DEBUG_PORT == 2
- # define SendDebug_P(a) Serial2.print_P(PSTR(a))
- # define SendDebugln_P(a) Serial2.println_P(PSTR(a))
- # define SendDebug Serial2.print
- # define SendDebugln Serial2.println
-#elif DEBUG_PORT == 3
- # define SendDebug_P(a) Serial3.print_P(PSTR(a))
- # define SendDebugln_P(a) Serial3.println_P(PSTR(a))
- # define SendDebug Serial3.print
- # define SendDebugln Serial3.println
-#endif
-
//////////////////////////////////////////////////////////////////////////////
// Navigation defaults
//
diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde
index 57dcd8ead612457836af91ff61e41ba7278926aa..90c1f34319f9d99a09de492a0f92ab2cc4e19d31 100644
--- a/ArduCopter/radio.pde
+++ b/ArduCopter/radio.pde
@@ -168,8 +168,8 @@ static void throttle_failsafe(uint16_t pwm)
// home distance is in meters
// This is to prevent accidental RTL
if(motors.armed() && takeoff_complete) {
- SendDebug("MSG FS ON ");
- SendDebugln(pwm, DEC);
+ Serial.print_P(PSTR("MSG FS ON "));
+ Serial.println(pwm, DEC);
set_failsafe(true);
}
}else if (failsafeCounter > FS_COUNTER) {
@@ -184,8 +184,8 @@ static void throttle_failsafe(uint16_t pwm)
failsafeCounter = 3;
}
if (failsafeCounter == 1) {
- SendDebug("MSG FS OFF ");
- SendDebugln(pwm, DEC);
+ Serial.print_P(PSTR("MSG FS OFF "));
+ Serial.println(pwm, DEC);
}else if(failsafeCounter == 0) {
set_failsafe(false);
}else if (failsafeCounter <0) {
diff --git a/ArduCopter/sensors.pde b/ArduCopter/sensors.pde
index 64cdbd2ed0e258e771bae9d4f0206b5ae010dd40..75763549045771636ff0c01b6d3c56b5617fc7d9 100644
--- a/ArduCopter/sensors.pde
+++ b/ArduCopter/sensors.pde
@@ -53,7 +53,7 @@ static void init_optflow()
#ifdef OPTFLOW_ENABLED
if( optflow.init(false, &timer_scheduler, &spi_semaphore, &spi3_semaphore) == false ) {
g.optflow_enabled = false;
- SendDebug("\nFailed to Init OptFlow ");
+ Serial.print_P(PSTR("\nFailed to Init OptFlow "));
}
// suspend timer while we set-up SPI communication
timer_scheduler.suspend_timer();
diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde
index 0e7eeb065715c415c0c14691d81a076f9e5c0739..642b2f225d878cc16c7f8c158336065704178b6f 100644
--- a/ArduCopter/setup.pde
+++ b/ArduCopter/setup.pde
@@ -144,7 +144,7 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
static int8_t
setup_radio(uint8_t argc, const Menu::arg *argv)
{
- Serial.println("\n\nRadio Setup:");
+ Serial.println_P(PSTR("\n\nRadio Setup:"));
uint8_t i;
for(i = 0; i < 100; i++) {
@@ -1000,7 +1000,7 @@ static void
print_switch(byte p, byte m, bool b)
{
Serial.printf_P(PSTR("Pos %d:\t"),p);
- Serial.print(flight_mode_strings[m]);
+ print_flight_mode(m);
Serial.printf_P(PSTR(",\t\tSimple: "));
if(b)
Serial.printf_P(PSTR("ON\n"));
@@ -1115,18 +1115,18 @@ static void
print_divider(void)
{
for (int i = 0; i < 40; i++) {
- Serial.print("-");
+ Serial.print_P(PSTR("-"));
}
- Serial.println("");
+ Serial.println();
}
static void print_enabled(boolean b)
{
if(b)
- Serial.printf_P(PSTR("en"));
+ Serial.print_P(PSTR("en"));
else
- Serial.printf_P(PSTR("dis"));
- Serial.printf_P(PSTR("abled\n"));
+ Serial.print_P(PSTR("dis"));
+ Serial.print_P(PSTR("abled\n"));
}
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 2099407cd2af5387fb992037848e701919c88c6d..799ccc61799232e7adb0330ac0a1cb4affba6dd5 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -353,7 +353,7 @@ static void init_ardupilot()
#endif
- SendDebug("\nReady to FLY ");
+ Serial.print_P(PSTR("\nReady to FLY "));
}
@@ -687,3 +687,55 @@ uint16_t board_voltage(void)
return vcc.read_vcc();
}
#endif
+
+//
+// print_flight_mode - prints flight mode to serial port.
+//
+static void
+print_flight_mode(uint8_t mode)
+{
+ switch (mode) {
+ case STABILIZE:
+ Serial.print_P(PSTR("STABILIZE"));
+ break;
+ case ACRO:
+ Serial.print_P(PSTR("ACRO"));
+ break;
+ case ALT_HOLD:
+ Serial.print_P(PSTR("ALT_HOLD"));
+ break;
+ case AUTO:
+ Serial.print_P(PSTR("AUTO"));
+ break;
+ case GUIDED:
+ Serial.print_P(PSTR("GUIDED"));
+ break;
+ case LOITER:
+ Serial.print_P(PSTR("LOITER"));
+ break;
+ case RTL:
+ Serial.print_P(PSTR("RTL"));
+ break;
+ case CIRCLE:
+ Serial.print_P(PSTR("CIRCLE"));
+ break;
+ case POSITION:
+ Serial.print_P(PSTR("POSITION"));
+ break;
+ case LAND:
+ Serial.print_P(PSTR("LAND"));
+ break;
+ case OF_LOITER:
+ Serial.print_P(PSTR("OF_LOITER"));
+ break;
+ case TOY_M:
+ Serial.print_P(PSTR("TOY_M"));
+ break;
+ case TOY_A:
+ Serial.print_P(PSTR("TOY_A"));
+ break;
+ default:
+ Serial.print_P(PSTR("---"));
+ break;
+ }
+}
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index 9cf3c8605edc9cdc061b8a5e412357f73c62bc5d..f10bf904dc7d9255c32012ff72f9309fb031666f 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -746,7 +746,7 @@ test_gps(uint8_t argc, const Menu::arg *argv)
g_gps->num_sats);
g_gps->new_data = false;
}else{
- Serial.print(".");
+ Serial.print_P(PSTR("."));
}
if(Serial.available() > 0) {
return (0);
@@ -1246,7 +1246,7 @@ test_wp_nav(uint8_t argc, const Menu::arg *argv)
// got 23506;, should be 22800
navigate();
- Serial.printf("bear: %ld\n", target_bearing);
+ Serial.printf_P(PSTR("bear: %ld\n"), target_bearing);
return 0;
}