From 5ec1f95ee4cf79d2ef41dbe60b5d11db055689af Mon Sep 17 00:00:00 2001
From: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
Date: Sun, 2 Feb 2020 00:29:53 +0900
Subject: [PATCH] Rover: display the type of failsafe on GCS

---
 APMrover2/Rover.cpp    | 2 +-
 APMrover2/Rover.h      | 2 +-
 APMrover2/failsafe.cpp | 6 +++---
 APMrover2/radio.cpp    | 2 +-
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/APMrover2/Rover.cpp b/APMrover2/Rover.cpp
index 444859b9c1..586294b5c2 100644
--- a/APMrover2/Rover.cpp
+++ b/APMrover2/Rover.cpp
@@ -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);
 }
 
 /*
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 082f766063..6c3db2b68a 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -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);
diff --git a/APMrover2/failsafe.cpp b/APMrover2/failsafe.cpp
index 574e282653..3df6e10848 100644
--- a/APMrover2/failsafe.cpp
+++ b/APMrover2/failsafe.cpp
@@ -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();
diff --git a/APMrover2/radio.cpp b/APMrover2/radio.cpp
index 8f99b4092f..28b5edd8df 100644
--- a/APMrover2/radio.cpp
+++ b/APMrover2/radio.cpp
@@ -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()