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Copter: revised and uniformization of severity messages

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This commit is contained in:
lvale 2015-11-04 17:32:01 +00:00 committed by Randy Mackay
parent 420b1ca715
commit 549695181c
13 changed files with 52 additions and 52 deletions
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2
ArduCopter/ArduCopter.cpp
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@ -206,7 +206,7 @@ void Copter::perf_update(void)
if (should_log(MASK_LOG_PM))
Log_Write_Performance();
if (scheduler.debug()) {
gcs_send_text_fmt("PERF: %u/%u %lu %lu\n",
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "PERF: %u/%u %lu %lu\n",
(unsigned)perf_info_get_num_long_running(),
(unsigned)perf_info_get_num_loops(),
(unsigned long)perf_info_get_max_time(),

2
ArduCopter/Copter.h
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@ -933,7 +933,7 @@ private:
void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate);
void print_hit_enter();
void tuning();
void gcs_send_text_fmt(const char *fmt, ...);
void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd);
bool verify_command_callback(const AP_Mission::Mission_Command& cmd);

38
ArduCopter/GCS_Mavlink.cpp
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@ -1022,12 +1022,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: // MAV ID: 21
{
// mark the firmware version in the tlog
send_text(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING);
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif
send_text(MAV_SEVERITY_WARNING, "Frame: " FRAME_CONFIG_STRING);
send_text(MAV_SEVERITY_INFO, "Frame: " FRAME_CONFIG_STRING);
handle_param_request_list(msg);
break;
}
@ -1518,18 +1518,18 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_DO_SEND_BANNER: {
result = MAV_RESULT_ACCEPTED;
send_text(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING);
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif
send_text(MAV_SEVERITY_WARNING, "Frame: " FRAME_CONFIG_STRING);
send_text(MAV_SEVERITY_INFO, "Frame: " FRAME_CONFIG_STRING);
// send system ID if we can
char sysid[40];
if (hal.util->get_system_id(sysid)) {
send_text(MAV_SEVERITY_WARNING, sysid);
send_text(MAV_SEVERITY_INFO, sysid);
}
break;
@ -1841,12 +1841,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (packet.idx >= copter.rally.get_rally_total() ||
packet.idx >= copter.rally.get_rally_max()) {
send_text(MAV_SEVERITY_WARNING,"bad rally point message ID");
send_text(MAV_SEVERITY_NOTICE,"bad rally point message ID");
break;
}
if (packet.count != copter.rally.get_rally_total()) {
send_text(MAV_SEVERITY_WARNING,"bad rally point message count");
send_text(MAV_SEVERITY_NOTICE,"bad rally point message count");
break;
}
@ -1867,27 +1867,27 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
//send a rally point to the GCS
case MAVLINK_MSG_ID_RALLY_FETCH_POINT: {
//send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 1"); // #### TEMP
//send_text(MAV_SEVERITY_INFO, "## getting rally point in GCS_Mavlink.cpp 1"); // #### TEMP
mavlink_rally_fetch_point_t packet;
mavlink_msg_rally_fetch_point_decode(msg, &packet);
//send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 2"); // #### TEMP
//send_text(MAV_SEVERITY_INFO, "## getting rally point in GCS_Mavlink.cpp 2"); // #### TEMP
if (packet.idx > copter.rally.get_rally_total()) {
send_text(MAV_SEVERITY_WARNING, "bad rally point index");
send_text(MAV_SEVERITY_NOTICE, "bad rally point index");
break;
}
//send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 3"); // #### TEMP
//send_text(MAV_SEVERITY_INFO, "## getting rally point in GCS_Mavlink.cpp 3"); // #### TEMP
RallyLocation rally_point;
if (!copter.rally.get_rally_point_with_index(packet.idx, rally_point)) {
send_text(MAV_SEVERITY_WARNING, "failed to set rally point");
send_text(MAV_SEVERITY_NOTICE, "failed to set rally point");
break;
}
//send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 4"); // #### TEMP
//send_text(MAV_SEVERITY_INFO, "## getting rally point in GCS_Mavlink.cpp 4"); // #### TEMP
mavlink_msg_rally_point_send_buf(msg,
chan, msg->sysid, msg->compid, packet.idx,
@ -1895,7 +1895,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
rally_point.alt, rally_point.break_alt, rally_point.land_dir,
rally_point.flags);
//send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 5"); // #### TEMP
//send_text(MAV_SEVERITY_INFO, "## getting rally point in GCS_Mavlink.cpp 5"); // #### TEMP
break;
}
@ -1965,7 +1965,7 @@ void Copter::mavlink_delay_cb()
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text(MAV_SEVERITY_WARNING, "Initialising APM...");
gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM...");
}
check_usb_mux();
@ -2039,10 +2039,10 @@ void Copter::gcs_send_text(MAV_SEVERITY severity, const char *str)
* only one fits in the queue, so if you send more than one before the
* last one gets into the serial buffer then the old one will be lost
*/
void Copter::gcs_send_text_fmt(const char *fmt, ...)
void Copter::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
{
va_list arg_list;
gcs[0].pending_status.severity = (uint8_t)MAV_SEVERITY_WARNING;
gcs[0].pending_status.severity = (uint8_t)severity;
va_start(arg_list, fmt);
hal.util->vsnprintf((char *)gcs[0].pending_status.text,
sizeof(gcs[0].pending_status.text), fmt, arg_list);

10
ArduCopter/Log.cpp
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@ -147,9 +147,9 @@ int8_t Copter::process_logs(uint8_t argc, const Menu::arg *argv)
void Copter::do_erase_logs(void)
{
gcs_send_text(MAV_SEVERITY_CRITICAL, "Erasing logs\n");
gcs_send_text(MAV_SEVERITY_INFO, "Erasing logs\n");
DataFlash.EraseAll();
gcs_send_text(MAV_SEVERITY_CRITICAL, "Log erase complete\n");
gcs_send_text(MAV_SEVERITY_INFO, "Log erase complete\n");
}
#if AUTOTUNE_ENABLED == ENABLED
@ -807,12 +807,12 @@ void Copter::log_init(void)
{
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
if (!DataFlash.CardInserted()) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "No dataflash inserted");
gcs_send_text(MAV_SEVERITY_NOTICE, "No dataflash inserted");
g.log_bitmask.set(0);
} else if (DataFlash.NeedPrep()) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Preparing log system");
gcs_send_text(MAV_SEVERITY_INFO, "Preparing log system");
DataFlash.Prep();
gcs_send_text(MAV_SEVERITY_CRITICAL, "Prepared log system");
gcs_send_text(MAV_SEVERITY_INFO, "Prepared log system");
for (uint8_t i=0; i<num_gcs; i++) {
gcs[i].reset_cli_timeout();
}

4
ArduCopter/commands_logic.cpp
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@ -610,7 +610,7 @@ bool Copter::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs_send_text_fmt("Reached Command #%i",cmd.index);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Command #%i",cmd.index);
return true;
}else{
return false;
@ -692,7 +692,7 @@ bool Copter::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs_send_text_fmt("Reached Command #%i",cmd.index);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Command #%i",cmd.index);
return true;
}else{
return false;

10
ArduCopter/compassmot.cpp
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@ -95,13 +95,13 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
AP_Notify::flags.esc_calibration = true;
// warn user we are starting calibration
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "STARTING CALIBRATION");
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "STARTING CALIBRATION");
// inform what type of compensation we are attempting
if (comp_type == AP_COMPASS_MOT_COMP_CURRENT) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "CURRENT");
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "CURRENT");
} else{
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "THROTTLE");
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "THROTTLE");
}
// disable throttle and battery failsafe
@ -245,10 +245,10 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
}
compass.save_motor_compensation();
// display success message
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Calibration Successful!");
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Calibration Successful!");
} else {
// compensation vector never updated, report failure
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Failed!");
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_NOTICE, "Failed!");
compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED);
}

10
ArduCopter/control_autotune.cpp
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@ -1007,19 +1007,19 @@ void Copter::autotune_update_gcs(uint8_t message_id)
{
switch (message_id) {
case AUTOTUNE_MESSAGE_STARTED:
gcs_send_text(MAV_SEVERITY_CRITICAL,"AutoTune: Started");
gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Started");
break;
case AUTOTUNE_MESSAGE_STOPPED:
gcs_send_text(MAV_SEVERITY_CRITICAL,"AutoTune: Stopped");
gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Stopped");
break;
case AUTOTUNE_MESSAGE_SUCCESS:
gcs_send_text(MAV_SEVERITY_CRITICAL,"AutoTune: Success");
gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Success");
break;
case AUTOTUNE_MESSAGE_FAILED:
gcs_send_text(MAV_SEVERITY_CRITICAL,"AutoTune: Failed");
gcs_send_text(MAV_SEVERITY_NOTICE,"AutoTune: Failed");
break;
case AUTOTUNE_MESSAGE_SAVED_GAINS:
gcs_send_text(MAV_SEVERITY_CRITICAL,"AutoTune: Saved Gains");
gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Saved Gains");
break;
}
}

8
ArduCopter/crash_check.cpp
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@ -47,7 +47,7 @@ void Copter::crash_check()
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
// send message to gcs
gcs_send_text(MAV_SEVERITY_CRITICAL,"Crash: Disarming");
gcs_send_text(MAV_SEVERITY_EMERGENCY,"Crash: Disarming");
// disarm motors
init_disarm_motors();
}
@ -136,7 +136,7 @@ void Copter::parachute_check()
void Copter::parachute_release()
{
// send message to gcs and dataflash
gcs_send_text(MAV_SEVERITY_CRITICAL,"Parachute: Released!");
gcs_send_text(MAV_SEVERITY_INFO,"Parachute: Released!");
Log_Write_Event(DATA_PARACHUTE_RELEASED);
// disarm motors
@ -159,7 +159,7 @@ void Copter::parachute_manual_release()
// do not release if we are landed or below the minimum altitude above home
if (ap.land_complete) {
// warn user of reason for failure
gcs_send_text(MAV_SEVERITY_CRITICAL,"Parachute: Landed");
gcs_send_text(MAV_SEVERITY_INFO,"Parachute: Landed");
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_LANDED);
return;
@ -168,7 +168,7 @@ void Copter::parachute_manual_release()
// do not release if we are landed or below the minimum altitude above home
if ((parachute.alt_min() != 0 && (current_loc.alt < (int32_t)parachute.alt_min() * 100))) {
// warn user of reason for failure
gcs_send_text(MAV_SEVERITY_CRITICAL,"Parachute: Too Low");
gcs_send_text(MAV_SEVERITY_ALERT,"Parachute: Too Low");
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_TOO_LOW);
return;

6
ArduCopter/esc_calibration.cpp
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@ -85,7 +85,7 @@ void Copter::esc_calibration_passthrough()
motors.set_update_rate(50);
// send message to GCS
gcs_send_text(MAV_SEVERITY_CRITICAL,"ESC Calibration: passing pilot throttle to ESCs");
gcs_send_text(MAV_SEVERITY_INFO,"ESC Calibration: passing pilot throttle to ESCs");
while(1) {
// arm motors
@ -115,7 +115,7 @@ void Copter::esc_calibration_auto()
motors.set_update_rate(50);
// send message to GCS
gcs_send_text(MAV_SEVERITY_CRITICAL,"ESC Calibration: auto calibration");
gcs_send_text(MAV_SEVERITY_INFO,"ESC Calibration: auto calibration");
// arm and enable motors
motors.armed(true);
@ -131,7 +131,7 @@ void Copter::esc_calibration_auto()
// wait for safety switch to be pressed
while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (!printed_msg) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"ESC Calibration: push safety switch");
gcs_send_text(MAV_SEVERITY_INFO,"ESC Calibration: push safety switch");
printed_msg = true;
}
delay(10);

2
ArduCopter/events.cpp
View File

@ -159,7 +159,7 @@ void Copter::failsafe_battery_event(void)
set_failsafe_battery(true);
// warn the ground station and log to dataflash
gcs_send_text(MAV_SEVERITY_CRITICAL,"Low Battery!");
gcs_send_text(MAV_SEVERITY_WARNING,"Low Battery!");
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
}

6
ArduCopter/motors.cpp
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@ -149,7 +149,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
}
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text(MAV_SEVERITY_CRITICAL, "ARMING MOTORS");
gcs_send_text(MAV_SEVERITY_INFO, "ARMING MOTORS");
#endif
// Remember Orientation
@ -866,7 +866,7 @@ void Copter::init_disarm_motors()
}
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text(MAV_SEVERITY_CRITICAL, "DISARMING MOTORS");
gcs_send_text(MAV_SEVERITY_INFO, "DISARMING MOTORS");
#endif
// save compass offsets learned by the EKF
@ -936,7 +936,7 @@ void Copter::lost_vehicle_check()
if (soundalarm_counter >= LOST_VEHICLE_DELAY) {
if (AP_Notify::flags.vehicle_lost == false) {
AP_Notify::flags.vehicle_lost = true;
gcs_send_text(MAV_SEVERITY_CRITICAL,"Locate Copter Alarm!");
gcs_send_text(MAV_SEVERITY_NOTICE,"Locate Copter Alarm!");
}
} else {
soundalarm_counter++;

4
ArduCopter/sensors.cpp
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@ -4,13 +4,13 @@
void Copter::init_barometer(bool full_calibration)
{
gcs_send_text(MAV_SEVERITY_WARNING, "Calibrating barometer");
gcs_send_text(MAV_SEVERITY_NOTICE, "Calibrating barometer");
if (full_calibration) {
barometer.calibrate();
}else{
barometer.update_calibration();
}
gcs_send_text(MAV_SEVERITY_WARNING, "barometer calibration complete");
gcs_send_text(MAV_SEVERITY_INFO, "barometer calibration complete");
}
// return barometric altitude in centimeters

2
ArduCopter/switches.cpp
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@ -597,7 +597,7 @@ void Copter::save_trim()
float pitch_trim = ToRad((float)channel_pitch->control_in/100.0f);
ahrs.add_trim(roll_trim, pitch_trim);
Log_Write_Event(DATA_SAVE_TRIM);
gcs_send_text(MAV_SEVERITY_CRITICAL, "Trim saved");
gcs_send_text(MAV_SEVERITY_INFO, "Trim saved");
}
// auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions