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AP_Mission: emit mission descriptions as they are run

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Also add more mission-type-id to string mappings

Abort in SITL if no description for item
This commit is contained in:
Peter Barker 2017-11-27 13:13:22 +11:00 committed by Andrew Tridgell
parent d08ab88dea
commit 30d2a2a4fd
1 changed files with 43 additions and 0 deletions
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43
libraries/AP_Mission/AP_Mission.cpp
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@ -278,6 +278,7 @@ bool AP_Mission::verify_command(const Mission_Command& cmd)
bool AP_Mission::start_command(const Mission_Command& cmd) bool AP_Mission::start_command(const Mission_Command& cmd)
{ {
gcs().send_text(MAV_SEVERITY_INFO, "Mission: %u %s", cmd.index, cmd.type());
switch (cmd.id) { switch (cmd.id) {
case MAV_CMD_DO_GRIPPER: case MAV_CMD_DO_GRIPPER:
return start_command_do_gripper(cmd); return start_command_do_gripper(cmd);
@ -1864,6 +1865,10 @@ const char *AP_Mission::Mission_Command::type() const {
return "LoitTime"; return "LoitTime";
case MAV_CMD_NAV_GUIDED_ENABLE: case MAV_CMD_NAV_GUIDED_ENABLE:
return "GuidedEnable"; return "GuidedEnable";
case MAV_CMD_NAV_LOITER_TURNS:
return "LoitTurns";
case MAV_CMD_NAV_LOITER_TO_ALT:
return "LoitAltitude";
case MAV_CMD_NAV_SET_YAW_SPEED: case MAV_CMD_NAV_SET_YAW_SPEED:
return "SetYawSpd"; return "SetYawSpd";
case MAV_CMD_CONDITION_DELAY: case MAV_CMD_CONDITION_DELAY:
@ -1896,7 +1901,45 @@ const char *AP_Mission::Mission_Command::type() const {
return "SetReverse"; return "SetReverse";
case MAV_CMD_DO_GUIDED_LIMITS: case MAV_CMD_DO_GUIDED_LIMITS:
return "GuidedLimits"; return "GuidedLimits";
case MAV_CMD_NAV_TAKEOFF:
return "Takeoff";
case MAV_CMD_NAV_LAND:
return "Land";
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT:
return "ContinueAndChangeAlt";
case MAV_CMD_NAV_ALTITUDE_WAIT:
return "AltitudeWait";
case MAV_CMD_NAV_VTOL_TAKEOFF:
return "VTOLTakeoff";
case MAV_CMD_NAV_VTOL_LAND:
return "VTOLLand";
case MAV_CMD_DO_INVERTED_FLIGHT:
return "InvertedFlight";
case MAV_CMD_DO_FENCE_ENABLE:
return "FenceEnable";
case MAV_CMD_DO_AUTOTUNE_ENABLE:
return "AutoTuneEnable";
case MAV_CMD_DO_VTOL_TRANSITION:
return "VTOLTransition";
case MAV_CMD_DO_ENGINE_CONTROL:
return "EngineControl";
case MAV_CMD_CONDITION_YAW:
return "CondYaw";
case MAV_CMD_DO_LAND_START:
return "LandStart";
case MAV_CMD_NAV_DELAY:
return "Delay";
case MAV_CMD_DO_GRIPPER:
return "Gripper";
case MAV_CMD_NAV_PAYLOAD_PLACE:
return "PayloadPlace";
case MAV_CMD_DO_PARACHUTE:
return "Parachute";
default: default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Mission command with ID %u has no string", id);
#endif
return "?"; return "?";
} }
} }