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Rover: display the type of failsafe on GCS

This commit is contained in:
Tatsuya Yamaguchi 2020-02-02 00:29:53 +09:00 committed by Randy Mackay
parent 0cf747cdbe
commit 5ec1f95ee4
4 changed files with 6 additions and 6 deletions
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2
APMrover2/Rover.cpp
View File

@ -205,7 +205,7 @@ void Rover::gcs_failsafe_check(void)
}
// check for updates from GCS within 2 seconds
failsafe_trigger(FAILSAFE_EVENT_GCS, failsafe.last_heartbeat_ms != 0 && (millis() - failsafe.last_heartbeat_ms) > 2000);
failsafe_trigger(FAILSAFE_EVENT_GCS, "GCS", failsafe.last_heartbeat_ms != 0 && (millis() - failsafe.last_heartbeat_ms) > 2000);
}
/*

2
APMrover2/Rover.h
View File

@ -319,7 +319,7 @@ private:
void failsafe_ekf_off_event(void);
// failsafe.cpp
void failsafe_trigger(uint8_t failsafe_type, bool on);
void failsafe_trigger(uint8_t failsafe_type, const char* type_str, bool on);
void handle_battery_failsafe(const char* type_str, const int8_t action);
#if ADVANCED_FAILSAFE == ENABLED
void afs_fs_check(void);

6
APMrover2/failsafe.cpp
View File

@ -45,7 +45,7 @@ void Rover::failsafe_check()
/*
called to set/unset a failsafe event.
*/
void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
void Rover::failsafe_trigger(uint8_t failsafe_type, const char* type_str, bool on)
{
uint8_t old_bits = failsafe.bits;
if (on) {
@ -59,7 +59,7 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
}
if (failsafe.triggered != 0 && failsafe.bits == 0) {
// a failsafe event has ended
gcs().send_text(MAV_SEVERITY_INFO, "Failsafe ended");
gcs().send_text(MAV_SEVERITY_INFO, "%s Failsafe Cleared", type_str);
}
failsafe.triggered &= failsafe.bits;
@ -70,7 +70,7 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
(control_mode != &mode_rtl) &&
((control_mode != &mode_hold || (g2.fs_options & (uint32_t)Failsafe_Options::Failsafe_Option_Active_In_Hold)))) {
failsafe.triggered = failsafe.bits;
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe trigger 0x%x", (unsigned int)failsafe.triggered);
gcs().send_text(MAV_SEVERITY_WARNING, "%s Failsafe", type_str);
// clear rc overrides
RC_Channels::clear_overrides();

2
APMrover2/radio.cpp
View File

@ -135,7 +135,7 @@ void Rover::radio_failsafe_check(uint16_t pwm)
if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 500) {
failed = true;
}
failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed);
failsafe_trigger(FAILSAFE_EVENT_THROTTLE, "Radio", failed);
}
bool Rover::trim_radio()