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AP_Motors: eliminate GCS_MAVLINK::send_statustext_all

This commit is contained in:
Peter Barker 2017-07-09 14:15:34 +10:00 committed by Francisco Ferreira
parent eab60e6163
commit 35d8f11e46
5 changed files with 10 additions and 10 deletions
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2
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -35,7 +35,7 @@ void AP_MotorsCoax::init(motor_frame_class frame_class, motor_frame_type frame_t
_servo3 = SRV_Channels::get_channel_for(SRV_Channel::k_motor3, CH_3);
_servo4 = SRV_Channels::get_channel_for(SRV_Channel::k_motor4, CH_4);
if (!_servo1 || !_servo2 || !_servo3 || !_servo4) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_ERROR, "MotorsCoax: unable to setup output channels");
gcs().send_text(MAV_SEVERITY_ERROR, "MotorsCoax: unable to setup output channels");
// don't set initialised_ok
return;
}

8
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -336,7 +336,7 @@ bool AP_MotorsHeli::parameter_check(bool display_msg) const
// returns false if _rsc_setpoint is not higher than _rsc_critical as this would not allow rotor_runup_complete to ever return true
if (_rsc_critical >= _rsc_setpoint) {
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: H_RSC_CRITICAL too large");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_RSC_CRITICAL too large");
}
return false;
}
@ -344,7 +344,7 @@ bool AP_MotorsHeli::parameter_check(bool display_msg) const
// returns false if RSC Mode is not set to a valid control mode
if (_rsc_mode <= (int8_t)ROTOR_CONTROL_MODE_DISABLED || _rsc_mode > (int8_t)ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT) {
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: H_RSC_MODE invalid");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_RSC_MODE invalid");
}
return false;
}
@ -352,7 +352,7 @@ bool AP_MotorsHeli::parameter_check(bool display_msg) const
// returns false if RSC Runup Time is less than Ramp time as this could cause undesired behaviour of rotor speed estimate
if (_rsc_runup_time <= _rsc_ramp_time){
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: H_RUNUP_TIME too small");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_RUNUP_TIME too small");
}
return false;
}
@ -360,7 +360,7 @@ bool AP_MotorsHeli::parameter_check(bool display_msg) const
// returns false if idle output is higher than critical rotor speed as this could block runup_complete from going false
if ( _rsc_idle_output >= _rsc_critical){
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: H_RSC_IDLE too large");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_RSC_IDLE too large");
}
return false;
}

6
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -553,7 +553,7 @@ bool AP_MotorsHeli_Single::parameter_check(bool display_msg) const
// returns false if Phase Angle is outside of range
if ((_phase_angle > 90) || (_phase_angle < -90)){
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: H_PHANG out of range");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_PHANG out of range");
}
return false;
}
@ -561,7 +561,7 @@ bool AP_MotorsHeli_Single::parameter_check(bool display_msg) const
// returns false if Acro External Gyro Gain is outside of range
if ((_ext_gyro_gain_acro < 0) || (_ext_gyro_gain_acro > 1000)){
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: H_GYR_GAIN_ACRO out of range");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_GYR_GAIN_ACRO out of range");
}
return false;
}
@ -569,7 +569,7 @@ bool AP_MotorsHeli_Single::parameter_check(bool display_msg) const
// returns false if Standard External Gyro Gain is outside of range
if ((_ext_gyro_gain_std < 0) || (_ext_gyro_gain_std > 1000)){
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: H_GYR_GAIN out of range");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_GYR_GAIN out of range");
}
return false;
}

2
libraries/AP_Motors/AP_MotorsSingle.cpp
View File

@ -42,7 +42,7 @@ void AP_MotorsSingle::init(motor_frame_class frame_class, motor_frame_type frame
_servo3 = SRV_Channels::get_channel_for(SRV_Channel::k_motor3, CH_3);
_servo4 = SRV_Channels::get_channel_for(SRV_Channel::k_motor4, CH_4);
if (!_servo1 || !_servo2 || !_servo3 || !_servo4) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_ERROR, "MotorsSingle: unable to setup output channels");
gcs().send_text(MAV_SEVERITY_ERROR, "MotorsSingle: unable to setup output channels");
// don't set initialised_ok
return;
}

2
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -43,7 +43,7 @@ void AP_MotorsTri::init(motor_frame_class frame_class, motor_frame_type frame_ty
// find the yaw servo
_yaw_servo = SRV_Channels::get_channel_for(SRV_Channel::k_motor7, AP_MOTORS_CH_TRI_YAW);
if (!_yaw_servo) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_ERROR, "MotorsTri: unable to setup yaw channel");
gcs().send_text(MAV_SEVERITY_ERROR, "MotorsTri: unable to setup yaw channel");
// don't set initialised_ok
return;
}