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Plane: Events: consolodate failsafe evnt to single print

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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
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17
ArduPlane/events.cpp
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@ -24,7 +24,6 @@ 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, "RC Short Failsafe On");
switch (control_mode->mode_number())
{
case Mode::Number::MANUAL:
@ -46,7 +45,6 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
} else {
set_mode(mode_circle, reason); // circle if action = 0 or 1
}
gcs().send_text(MAV_SEVERITY_INFO, "Flight mode = %s", control_mode->name());
break;
#if HAL_QUADPLANE_ENABLED
@ -64,7 +62,6 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
} else {
set_mode(mode_qland, reason);
}
gcs().send_text(MAV_SEVERITY_INFO, "Flight mode = %s", control_mode->name());
break;
#endif // HAL_QUADPLANE_ENABLED
@ -88,7 +85,6 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
} else {
set_mode(mode_circle, reason);
}
gcs().send_text(MAV_SEVERITY_INFO, "Flight mode = %s", control_mode->name());
}
break;
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:
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)
{
// 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
RC_Channels::clear_overrides();
failsafe.state = fstype;
@ -192,7 +187,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
case Mode::Number::INITIALISING:
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)