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AdvancedFailsafe: Rework status texts to be more uniform

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Michael du Breuil 2017-07-29 13:29:41 -07:00 committed by Francisco Ferreira
parent 127edce39e
commit 5fca7d02b3
1 changed files with 9 additions and 9 deletions
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18
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
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@ -160,7 +160,7 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
if(_enable_geofence_fs) { if(_enable_geofence_fs) {
if (geofence_breached || check_altlimit()) { if (geofence_breached || check_altlimit()) {
if (!_terminate) { if (!_terminate) {
gcs().send_text(MAV_SEVERITY_INFO, "Fence TERMINATE"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Terminating due to fence breach");
_terminate.set_and_notify(1); _terminate.set_and_notify(1);
} }
} }
@ -174,7 +174,7 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
(mode == AFS_MANUAL || mode == AFS_STABILIZED || !_rc_term_manual_only) && (mode == AFS_MANUAL || mode == AFS_STABILIZED || !_rc_term_manual_only) &&
_rc_fail_time_seconds > 0 && _rc_fail_time_seconds > 0 &&
(AP_HAL::millis() - last_valid_rc_ms) > (_rc_fail_time_seconds * 1000.0f)) { (AP_HAL::millis() - last_valid_rc_ms) > (_rc_fail_time_seconds * 1000.0f)) {
gcs().send_text(MAV_SEVERITY_INFO, "RC failure terminate"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Terminating due to RC failure");
_terminate.set_and_notify(1); _terminate.set_and_notify(1);
} }
@ -195,7 +195,7 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
// we startup in preflight mode. This mode ends when // we startup in preflight mode. This mode ends when
// we first enter auto. // we first enter auto.
if (mode == AFS_AUTO) { if (mode == AFS_AUTO) {
gcs().send_text(MAV_SEVERITY_INFO, "Starting AFS_AUTO"); gcs().send_text(MAV_SEVERITY_DEBUG, "AFS State: AFS_AUTO");
_state = STATE_AUTO; _state = STATE_AUTO;
} }
break; break;
@ -203,7 +203,7 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
case STATE_AUTO: case STATE_AUTO:
// this is the normal mode. // this is the normal mode.
if (!gcs_link_ok) { if (!gcs_link_ok) {
gcs().send_text(MAV_SEVERITY_ERROR, "State DATA_LINK_LOSS"); gcs().send_text(MAV_SEVERITY_DEBUG, "AFS State: DATA_LINK_LOSS");
_state = STATE_DATA_LINK_LOSS; _state = STATE_DATA_LINK_LOSS;
if (_wp_comms_hold) { if (_wp_comms_hold) {
_saved_wp = mission.get_current_nav_cmd().index; _saved_wp = mission.get_current_nav_cmd().index;
@ -217,7 +217,7 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
break; break;
} }
if (!gps_lock_ok) { if (!gps_lock_ok) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "State GPS_LOSS"); gcs().send_text(MAV_SEVERITY_DEBUG, "AFS State: GPS_LOSS");
_state = STATE_GPS_LOSS; _state = STATE_GPS_LOSS;
if (_wp_gps_loss) { if (_wp_gps_loss) {
_saved_wp = mission.get_current_nav_cmd().index; _saved_wp = mission.get_current_nav_cmd().index;
@ -238,13 +238,13 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
// leads to termination if AFS_DUAL_LOSS is 1 // leads to termination if AFS_DUAL_LOSS is 1
if(_enable_dual_loss) { if(_enable_dual_loss) {
if (!_terminate) { if (!_terminate) {
gcs().send_text(MAV_SEVERITY_INFO, "Dual loss TERMINATE"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Terminating due to dual loss");
_terminate.set_and_notify(1); _terminate.set_and_notify(1);
} }
} }
} else if (gcs_link_ok) { } else if (gcs_link_ok) {
_state = STATE_AUTO; _state = STATE_AUTO;
gcs().send_text(MAV_SEVERITY_INFO, "GCS OK"); gcs().send_text(MAV_SEVERITY_DEBUG, "AFS State: AFS_AUTO, GCS now OK");
// we only return to the mission if we have not exceeded AFS_MAX_COM_LOSS // we only return to the mission if we have not exceeded AFS_MAX_COM_LOSS
if (_saved_wp != 0 && if (_saved_wp != 0 &&
(_max_comms_loss <= 0 || (_max_comms_loss <= 0 ||
@ -260,11 +260,11 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
// losing GCS link when GPS lock lost // losing GCS link when GPS lock lost
// leads to termination if AFS_DUAL_LOSS is 1 // leads to termination if AFS_DUAL_LOSS is 1
if (!_terminate && _enable_dual_loss) { if (!_terminate && _enable_dual_loss) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Dual loss TERMINATE"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Terminating due to dual loss");
_terminate.set_and_notify(1); _terminate.set_and_notify(1);
} }
} else if (gps_lock_ok) { } else if (gps_lock_ok) {
gcs().send_text(MAV_SEVERITY_INFO, "GPS OK"); gcs().send_text(MAV_SEVERITY_DEBUG, "AFS State: AFS_AUTO, GPS now OK");
_state = STATE_AUTO; _state = STATE_AUTO;
// we only return to the mission if we have not exceeded AFS_MAX_GPS_LOSS // we only return to the mission if we have not exceeded AFS_MAX_GPS_LOSS
if (_saved_wp != 0 && if (_saved_wp != 0 &&