Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: Events: consolodate failsafe evnt to single print

Browse Source
This commit is contained in:
Iampete1 2022-12-29 23:37:45 +00:00 committed by Andrew Tridgell
parent ed642df063
commit 3a4e07a73c
1 changed files with 6 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
ArduPlane/events.cpp
View File

@ -24,7 +24,6 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
failsafe.state = fstype; failsafe.state = fstype;
failsafe.short_timer_ms = millis(); failsafe.short_timer_ms = millis();
failsafe.saved_mode_number = control_mode->mode_number(); failsafe.saved_mode_number = control_mode->mode_number();
gcs().send_text(MAV_SEVERITY_WARNING, "RC Short Failsafe On");
switch (control_mode->mode_number()) switch (control_mode->mode_number())
{ {
case Mode::Number::MANUAL: case Mode::Number::MANUAL:
@ -46,7 +45,6 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
} else { } else {
set_mode(mode_circle, reason); // circle if action = 0 or 1 set_mode(mode_circle, reason); // circle if action = 0 or 1
} }
gcs().send_text(MAV_SEVERITY_INFO, "Flight mode = %s", control_mode->name());
break; break;
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
@ -64,7 +62,6 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
} else { } else {
set_mode(mode_qland, reason); set_mode(mode_qland, reason);
} }
gcs().send_text(MAV_SEVERITY_INFO, "Flight mode = %s", control_mode->name());
break; break;
#endif // HAL_QUADPLANE_ENABLED #endif // HAL_QUADPLANE_ENABLED
@ -88,7 +85,6 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
} else { } else {
set_mode(mode_circle, reason); set_mode(mode_circle, reason);
} }
gcs().send_text(MAV_SEVERITY_INFO, "Flight mode = %s", control_mode->name());
} }
break; break;
case Mode::Number::CIRCLE: // these modes never take any short failsafe action and continue case Mode::Number::CIRCLE: // these modes never take any short failsafe action and continue
@ -102,17 +98,16 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
case Mode::Number::INITIALISING: case Mode::Number::INITIALISING:
break; break;
} }
if (failsafe.saved_mode_number != control_mode->mode_number()) {
gcs().send_text(MAV_SEVERITY_WARNING, "RC Short Failsafe: switched to %s", control_mode->name());
} else {
gcs().send_text(MAV_SEVERITY_WARNING, "RC Short Failsafe On");
}
} }
void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason) void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason)
{ {
// This is how to handle a long loss of control signal failsafe. // This is how to handle a long loss of control signal failsafe.
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 // If the GCS is locked up we allow control to revert to RC
RC_Channels::clear_overrides(); RC_Channels::clear_overrides();
failsafe.state = fstype; failsafe.state = fstype;
@ -192,7 +187,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
case Mode::Number::INITIALISING: case Mode::Number::INITIALISING:
break; break;
} }
gcs().send_text(MAV_SEVERITY_INFO, "Flight mode = %s", control_mode->name()); gcs().send_text(MAV_SEVERITY_WARNING, "%s Failsafe On: %s", (reason == ModeReason:: GCS_FAILSAFE) ? "GCS" : "RC Long", control_mode->name());
} }
void Plane::failsafe_short_off_event(ModeReason reason) void Plane::failsafe_short_off_event(ModeReason reason)