From 2adb811a9c8c09762ccb1801ee23d5737cc41279 Mon Sep 17 00:00:00 2001
From: muramura <ma2maru@gmail.com>
Date: Mon, 30 Sep 2024 11:42:02 +0900
Subject: [PATCH] AP_SmartRTL: Share the same wording

---
 libraries/AP_SmartRTL/AP_SmartRTL.cpp | 8 ++++----
 libraries/AP_SmartRTL/AP_SmartRTL.h   | 2 ++
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_SmartRTL/AP_SmartRTL.cpp b/libraries/AP_SmartRTL/AP_SmartRTL.cpp
index ed25eee43b4c30..c9ea094212a4e9 100644
--- a/libraries/AP_SmartRTL/AP_SmartRTL.cpp
+++ b/libraries/AP_SmartRTL/AP_SmartRTL.cpp
@@ -118,7 +118,7 @@ void AP_SmartRTL::init()
     // check if memory allocation failed
     if (_path == nullptr || _prune.loops == nullptr || _simplify.stack == nullptr) {
         log_action(Action::DEACTIVATED_INIT_FAILED);
-        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "SmartRTL deactivated: init failed");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s deactivated: init failed", flightMode);
         free(_path);
         free(_prune.loops);
         free(_simplify.stack);
@@ -390,7 +390,7 @@ void AP_SmartRTL::run_background_cleanup()
     // warn if buffer is about to be filled
     uint32_t now_ms = AP_HAL::millis();
     if ((path_points_count >0) && (path_points_count >= _path_points_max - 9) && (now_ms - _last_low_space_notify_ms > 10000)) {
-        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "SmartRTL Low on space!");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Low on space!", flightMode);
        _last_low_space_notify_ms = now_ms;
     }
 
@@ -857,7 +857,7 @@ AP_SmartRTL::dist_point AP_SmartRTL::segment_segment_dist(const Vector3f &p1, co
     // difference between two closest points
     const Vector3f dP = line_start_diff+line1*t1-line2*t2;
 
-    const Vector3f midpoint = (p1+line1*t1 + p3+line2*t2)/2.0f;
+    const Vector3f midpoint = (p1+line1*t1 + p3+line2*t2) * 0.5f;
     return {dP.length(), midpoint};
 }
 
@@ -866,7 +866,7 @@ void AP_SmartRTL::deactivate(Action action, const char *reason)
 {
     _active = false;
     log_action(action);
-    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "SmartRTL deactivated: %s", reason);
+    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s deactivated: %s", flightMode, reason);
 }
 
 #if HAL_LOGGING_ENABLED
diff --git a/libraries/AP_SmartRTL/AP_SmartRTL.h b/libraries/AP_SmartRTL/AP_SmartRTL.h
index d2c5b439e04c97..bdca0f7280df47 100644
--- a/libraries/AP_SmartRTL/AP_SmartRTL.h
+++ b/libraries/AP_SmartRTL/AP_SmartRTL.h
@@ -240,4 +240,6 @@ class AP_SmartRTL {
 
     // returns true if the two loops overlap (used within add_loop to determine which loops to keep or throw away)
     bool loops_overlap(const prune_loop_t& loop1, const prune_loop_t& loop2) const;
+
+    const char *flightMode = "SmartRTL";
 };