From 0c571e6d6693940689c4a8547a35595ceac31c95 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Sat, 26 Feb 2022 07:40:12 -0600
Subject: [PATCH] ArduPlane: clarify and simplify RC failsafe messages

---
 ArduPlane/events.cpp | 20 +++++++++++++++-----
 ArduPlane/radio.cpp  |  4 ++--
 2 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp
index e0a420a485..3b900f4a35 100644
--- a/ArduPlane/events.cpp
+++ b/ArduPlane/events.cpp
@@ -21,7 +21,7 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
     failsafe.state = fstype;
     failsafe.short_timer_ms = millis();
     failsafe.saved_mode_number = control_mode->mode_number();
-    gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event on: type=%u/reason=%u", fstype, static_cast<unsigned>(reason));
+    gcs().send_text(MAV_SEVERITY_WARNING, "RC Short Failsafe On");
     switch (control_mode->mode_number())
     {
     case Mode::Number::MANUAL:
@@ -102,7 +102,12 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
 void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason)
 {
     // This is how to handle a long loss of control signal failsafe.
-    gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event on: type=%u/reason=%u", fstype, static_cast<unsigned>(reason));
+    if (reason == ModeReason:: GCS_FAILSAFE) {
+        gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe On");
+    }
+    else {
+        gcs().send_text(MAV_SEVERITY_WARNING, "RC Long Failsafe On");
+    }
     //  If the GCS is locked up we allow control to revert to RC
     RC_Channels::clear_overrides();
     failsafe.state = fstype;
@@ -186,7 +191,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
 void Plane::failsafe_short_off_event(ModeReason reason)
 {
     // We're back in radio contact
-    gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event off: reason=%u", static_cast<unsigned>(reason));
+    gcs().send_text(MAV_SEVERITY_WARNING, "Short Failsafe Cleared");
     failsafe.state = FAILSAFE_NONE;
     //restore entry mode if desired but check that our current mode is still due to failsafe
     if ( _last_reason == ModeReason::RADIO_FAILSAFE) { 
@@ -197,8 +202,13 @@ void Plane::failsafe_short_off_event(ModeReason reason)
 
 void Plane::failsafe_long_off_event(ModeReason reason)
 {
-    // We're back in radio contact
-    gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event off: reason=%u", static_cast<unsigned>(reason));
+    // We're back in radio contact with RC or GCS
+    if (reason == ModeReason:: GCS_FAILSAFE) {
+        gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe Off");
+    }
+    else {
+        gcs().send_text(MAV_SEVERITY_WARNING, "RC Long Failsafe Cleared");
+    }
     failsafe.state = FAILSAFE_NONE;
 }
 
diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp
index 5e534f6653..eb5ea21dd2 100644
--- a/ArduPlane/radio.cpp
+++ b/ArduPlane/radio.cpp
@@ -280,7 +280,7 @@ void Plane::control_failsafe()
         // throttle has dropped below the mark
         failsafe.throttle_counter++;
         if (failsafe.throttle_counter == 10) {
-            gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe on");
+            gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe %s", "on");
             failsafe.rc_failsafe = true;
             AP_Notify::flags.failsafe_radio = true;
         }
@@ -295,7 +295,7 @@ void Plane::control_failsafe()
             failsafe.throttle_counter = 3;
         }
         if (failsafe.throttle_counter == 1) {
-            gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe off");
+            gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe %s", "off");
         } else if(failsafe.throttle_counter == 0) {
             failsafe.rc_failsafe = false;
             AP_Notify::flags.failsafe_radio = false;