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APM_OBC: added severities to send_statustext_all

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Andrew Tridgell 2015-09-08 14:29:45 +10:00 committed by Randy Mackay
parent ef2d980520
commit 08e1a66772
1 changed files with 9 additions and 9 deletions
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18
libraries/APM_OBC/APM_OBC.cpp
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@ -131,7 +131,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
// we always check for fence breach // we always check for fence breach
if (geofence_breached || check_altlimit()) { if (geofence_breached || check_altlimit()) {
if (!_terminate) { if (!_terminate) {
GCS_MAVLINK::send_statustext_all(PSTR("Fence TERMINATE")); GCS_MAVLINK::send_statustext_all(SEVERITY_HIGH, PSTR("Fence TERMINATE"));
_terminate.set(1); _terminate.set(1);
} }
} }
@ -142,7 +142,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
_rc_fail_time != 0 && _rc_fail_time != 0 &&
(hal.scheduler->millis() - last_valid_rc_ms) > (unsigned)_rc_fail_time.get()) { (hal.scheduler->millis() - last_valid_rc_ms) > (unsigned)_rc_fail_time.get()) {
if (!_terminate) { if (!_terminate) {
GCS_MAVLINK::send_statustext_all(PSTR("RC failure terminate")); GCS_MAVLINK::send_statustext_all(SEVERITY_HIGH, PSTR("RC failure terminate"));
_terminate.set(1); _terminate.set(1);
} }
} }
@ -164,7 +164,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
// we startup in preflight mode. This mode ends when // we startup in preflight mode. This mode ends when
// we first enter auto. // we first enter auto.
if (mode == OBC_AUTO) { if (mode == OBC_AUTO) {
GCS_MAVLINK::send_statustext_all(PSTR("Starting AFS_AUTO")); GCS_MAVLINK::send_statustext_all(SEVERITY_HIGH, PSTR("Starting AFS_AUTO"));
_state = STATE_AUTO; _state = STATE_AUTO;
} }
break; break;
@ -172,7 +172,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
case STATE_AUTO: case STATE_AUTO:
// this is the normal mode. // this is the normal mode.
if (!gcs_link_ok) { if (!gcs_link_ok) {
GCS_MAVLINK::send_statustext_all(PSTR("State DATA_LINK_LOSS")); GCS_MAVLINK::send_statustext_all(SEVERITY_HIGH, PSTR("State DATA_LINK_LOSS"));
_state = STATE_DATA_LINK_LOSS; _state = STATE_DATA_LINK_LOSS;
if (_wp_comms_hold) { if (_wp_comms_hold) {
_saved_wp = mission.get_current_nav_cmd().index; _saved_wp = mission.get_current_nav_cmd().index;
@ -186,7 +186,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
break; break;
} }
if (!gps_lock_ok) { if (!gps_lock_ok) {
GCS_MAVLINK::send_statustext_all(PSTR("State GPS_LOSS")); GCS_MAVLINK::send_statustext_all(SEVERITY_HIGH, PSTR("State GPS_LOSS"));
_state = STATE_GPS_LOSS; _state = STATE_GPS_LOSS;
if (_wp_gps_loss) { if (_wp_gps_loss) {
_saved_wp = mission.get_current_nav_cmd().index; _saved_wp = mission.get_current_nav_cmd().index;
@ -206,12 +206,12 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
// losing GPS lock when data link is lost // losing GPS lock when data link is lost
// leads to termination // leads to termination
if (!_terminate) { if (!_terminate) {
GCS_MAVLINK::send_statustext_all(PSTR("Dual loss TERMINATE")); GCS_MAVLINK::send_statustext_all(SEVERITY_HIGH, PSTR("Dual loss TERMINATE"));
_terminate.set(1); _terminate.set(1);
} }
} else if (gcs_link_ok) { } else if (gcs_link_ok) {
_state = STATE_AUTO; _state = STATE_AUTO;
GCS_MAVLINK::send_statustext_all(PSTR("GCS OK")); GCS_MAVLINK::send_statustext_all(SEVERITY_HIGH, PSTR("GCS OK"));
// we only return to the mission if we have not exceeded AFS_MAX_COM_LOSS // we only return to the mission if we have not exceeded AFS_MAX_COM_LOSS
if (_saved_wp != 0 && if (_saved_wp != 0 &&
(_max_comms_loss <= 0 || (_max_comms_loss <= 0 ||
@ -227,11 +227,11 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
// losing GCS link when GPS lock lost // losing GCS link when GPS lock lost
// leads to termination // leads to termination
if (!_terminate) { if (!_terminate) {
GCS_MAVLINK::send_statustext_all(PSTR("Dual loss TERMINATE")); GCS_MAVLINK::send_statustext_all(SEVERITY_HIGH, PSTR("Dual loss TERMINATE"));
_terminate.set(1); _terminate.set(1);
} }
} else if (gps_lock_ok) { } else if (gps_lock_ok) {
GCS_MAVLINK::send_statustext_all(PSTR("GPS OK")); GCS_MAVLINK::send_statustext_all(SEVERITY_HIGH, PSTR("GPS OK"));
_state = STATE_AUTO; _state = STATE_AUTO;
// we only return to the mission if we have not exceeded AFS_MAX_GPS_LOSS // we only return to the mission if we have not exceeded AFS_MAX_GPS_LOSS
if (_saved_wp != 0 && if (_saved_wp != 0 &&