Merge pull request #2748 from mavlink/pr-log-annoyance

Clean up debug messages on discovery a bit

Author: julianoes

src/mavsdk/core/mavsdk_impl.cpp

@@ -1075,9 +1075,6 @@ void MavsdkImpl::make_system_with_component(uint8_t system_id, uint8_t comp_id)
 
     if (static_cast<int>(system_id) == 0 && static_cast<int>(comp_id) == 0) {
         LogDebug() << "Initializing connection to remote system...";
-    } else {
-        LogDebug() << "New system ID: " << static_cast<int>(system_id)
-                   << " Comp ID: " << static_cast<int>(comp_id);
     }
 
     // Make a system with its first component

src/mavsdk/core/system_impl.cpp

@@ -324,11 +324,14 @@ void SystemImpl::process_heartbeat(const mavlink_message_t& message)
         LogErr() << "type received in HEARTBEAT was not recognized";
     } else {
         const auto new_vehicle_type = static_cast<MAV_TYPE>(heartbeat.type);
-        if (heartbeat.autopilot != MAV_AUTOPILOT_INVALID && _vehicle_type != new_vehicle_type &&
-            new_vehicle_type != MAV_TYPE_GENERIC) {
-            LogWarn() << "Vehicle type changed (new type: " << static_cast<unsigned>(heartbeat.type)
-                      << ", old type: " << static_cast<unsigned>(_vehicle_type) << ")";
+        if (heartbeat.autopilot != MAV_AUTOPILOT_INVALID && new_vehicle_type != MAV_TYPE_GENERIC) {
+            if (_vehicle_type_set && _vehicle_type != new_vehicle_type) {
+                LogWarn() << "Vehicle type changed (new type: "
+                          << static_cast<unsigned>(heartbeat.type)
+                          << ", old type: " << static_cast<unsigned>(_vehicle_type) << ")";
+            }
             _vehicle_type = new_vehicle_type;
+            _vehicle_type_set = true;
         }
     }
 
@@ -490,8 +493,8 @@ void SystemImpl::add_new_component(uint8_t component_id)
             component_type(component_id), component_id, [this](const auto& func) {
                 call_user_callback(func);
             });
-        LogDebug() << "Component " << component_name(component_id) << " (" << int(component_id)
-                   << ") added.";
+        LogDebug() << "Component " << component_name(component_id)
+                   << " (component ID: " << int(component_id) << ") added.";
     }
 }
 
@@ -610,7 +613,8 @@ void SystemImpl::set_connected()
             {
                 std::lock_guard<std::mutex> lock(_components_mutex);
                 if (!_components.empty()) {
-                    LogDebug() << "Discovered " << _components.size() << " component(s)";
+                    LogDebug() << "Discovered " << _components.size()
+                               << (_components.size() == 1 ? " component" : " components");
                 }
             }
 

src/mavsdk/core/system_impl.h

@@ -437,6 +437,7 @@ class SystemImpl {
     std::unordered_map<const void*, ParamChangedCallback> _param_changed_callbacks{};
 
     MAV_TYPE _vehicle_type{MAV_TYPE::MAV_TYPE_GENERIC};
+    bool _vehicle_type_set{false};
 
     std::atomic<FlightMode> _flight_mode{FlightMode::Unknown};
 

src/mavsdk/core/udp_connection.cpp

@@ -261,7 +261,7 @@ void UdpConnection::add_remote_impl(
         // by MAVSDK. As such, it should not be advertised as a newly discovered system.
         if (static_cast<int>(remote_sysid) != 0) {
             LogInfo() << "New system on: " << new_remote.ip << ":" << new_remote.port_number
-                      << " (with system ID: " << static_cast<int>(remote_sysid) << ")";
+                      << " (system ID: " << static_cast<int>(remote_sysid) << ")";
         }
         _remotes.push_back(new_remote);
     } else {