Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: update send text severities

Browse Source
This commit is contained in:
squilter 2015-08-11 16:50:34 -07:00 committed by Randy Mackay
parent f1d9b3570c
commit 767b4da5b6
14 changed files with 108 additions and 108 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Copter.h
View File

@ -595,7 +595,7 @@ private:
void gcs_send_mission_item_reached_message(uint16_t mission_index);
void gcs_data_stream_send(void);
void gcs_check_input(void);
void gcs_send_text_P(gcs_severity severity, const prog_char_t *str);
void gcs_send_text_P(MAV_SEVERITY severity, const prog_char_t *str);
void do_erase_logs(void);
void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt);
void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds);

32
ArduCopter/GCS_Mavlink.cpp
View File

@ -1012,12 +1012,12 @@ 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_P(SEVERITY_LOW, PSTR(FIRMWARE_STRING));
send_text_P(MAV_SEVERITY_WARNING, PSTR(FIRMWARE_STRING));
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text_P(SEVERITY_LOW, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
send_text_P(MAV_SEVERITY_WARNING, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
#endif
send_text_P(SEVERITY_LOW, PSTR("Frame: " FRAME_CONFIG_STRING));
send_text_P(MAV_SEVERITY_WARNING, PSTR("Frame: " FRAME_CONFIG_STRING));
handle_param_request_list(msg);
break;
}
@ -1720,12 +1720,12 @@ 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_P(SEVERITY_LOW,PSTR("bad rally point message ID"));
send_text_P(MAV_SEVERITY_WARNING,PSTR("bad rally point message ID"));
break;
}
if (packet.count != copter.rally.get_rally_total()) {
send_text_P(SEVERITY_LOW,PSTR("bad rally point message count"));
send_text_P(MAV_SEVERITY_WARNING,PSTR("bad rally point message count"));
break;
}
@ -1738,7 +1738,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
rally_point.flags = packet.flags;
if (!copter.rally.set_rally_point_with_index(packet.idx, rally_point)) {
send_text_P(SEVERITY_HIGH, PSTR("error setting rally point"));
send_text_P(MAV_SEVERITY_CRITICAL, PSTR("error setting rally point"));
}
break;
@ -1746,27 +1746,27 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
//send a rally point to the GCS
case MAVLINK_MSG_ID_RALLY_FETCH_POINT: {
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.cpp 1")); // #### TEMP
//send_text_P(MAV_SEVERITY_CRITICAL, PSTR("## 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_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.cpp 2")); // #### TEMP
//send_text_P(MAV_SEVERITY_CRITICAL, PSTR("## getting rally point in GCS_Mavlink.cpp 2")); // #### TEMP
if (packet.idx > copter.rally.get_rally_total()) {
send_text_P(SEVERITY_LOW, PSTR("bad rally point index"));
send_text_P(MAV_SEVERITY_WARNING, PSTR("bad rally point index"));
break;
}
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.cpp 3")); // #### TEMP
//send_text_P(MAV_SEVERITY_CRITICAL, PSTR("## 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_P(SEVERITY_LOW, PSTR("failed to set rally point"));
send_text_P(MAV_SEVERITY_WARNING, PSTR("failed to set rally point"));
break;
}
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.cpp 4")); // #### TEMP
//send_text_P(MAV_SEVERITY_CRITICAL, PSTR("## getting rally point in GCS_Mavlink.cpp 4")); // #### TEMP
mavlink_msg_rally_point_send_buf(msg,
chan, msg->sysid, msg->compid, packet.idx,
@ -1774,7 +1774,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
rally_point.alt, rally_point.break_alt, rally_point.land_dir,
rally_point.flags);
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.cpp 5")); // #### TEMP
//send_text_P(MAV_SEVERITY_CRITICAL, PSTR("## getting rally point in GCS_Mavlink.cpp 5")); // #### TEMP
break;
}
@ -1821,7 +1821,7 @@ void Copter::mavlink_delay_cb()
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text_P(SEVERITY_LOW, PSTR("Initialising APM..."));
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Initialising APM..."));
}
check_usb_mux();
@ -1881,7 +1881,7 @@ void Copter::gcs_check_input(void)
}
}
void Copter::gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
void Copter::gcs_send_text_P(MAV_SEVERITY severity, const prog_char_t *str)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
@ -1898,7 +1898,7 @@ void Copter::gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
void Copter::gcs_send_text_fmt(const prog_char_t *fmt, ...)
{
va_list arg_list;
gcs[0].pending_status.severity = (uint8_t)SEVERITY_LOW;
gcs[0].pending_status.severity = (uint8_t)MAV_SEVERITY_WARNING;
va_start(arg_list, fmt);
hal.util->vsnprintf_P((char *)gcs[0].pending_status.text,
sizeof(gcs[0].pending_status.text), fmt, arg_list);

8
ArduCopter/Log.cpp
View File

@ -149,9 +149,9 @@ int8_t Copter::process_logs(uint8_t argc, const Menu::arg *argv)
void Copter::do_erase_logs(void)
{
gcs_send_text_P(SEVERITY_HIGH, PSTR("Erasing logs\n"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Erasing logs\n"));
DataFlash.EraseAll();
gcs_send_text_P(SEVERITY_HIGH, PSTR("Log erase complete\n"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Log erase complete\n"));
}
#if AUTOTUNE_ENABLED == ENABLED
@ -772,10 +772,10 @@ void Copter::log_init(void)
{
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
if (!DataFlash.CardInserted()) {
gcs_send_text_P(SEVERITY_HIGH, PSTR("No dataflash inserted"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("No dataflash inserted"));
g.log_bitmask.set(0);
} else if (DataFlash.NeedErase()) {
gcs_send_text_P(SEVERITY_HIGH, PSTR("ERASING LOGS"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("ERASING LOGS"));
do_erase_logs();
gcs[0].reset_cli_timeout();
}

20
ArduCopter/compassmot.cpp
View File

@ -37,7 +37,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
// check compass is enabled
if (!g.compass_enabled) {
gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("compass disabled\n"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("compass disabled\n"));
ap.compass_mot = false;
return 1;
}
@ -46,7 +46,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
compass.read();
for (uint8_t i=0; i<compass.get_count(); i++) {
if (!compass.healthy(i)) {
gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("check compass"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("check compass"));
ap.compass_mot = false;
return 1;
}
@ -55,7 +55,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
// check if radio is calibrated
pre_arm_rc_checks();
if (!ap.pre_arm_rc_check) {
gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("RC not calibrated"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("RC not calibrated"));
ap.compass_mot = false;
return 1;
}
@ -63,14 +63,14 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
// check throttle is at zero
read_radio();
if (channel_throttle->control_in != 0) {
gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("thr not zero"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("thr not zero"));
ap.compass_mot = false;
return 1;
}
// check we are landed
if (!ap.land_complete) {
gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("Not landed"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Not landed"));
ap.compass_mot = false;
return 1;
}
@ -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_P(SEVERITY_HIGH, PSTR("STARTING CALIBRATION"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("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_P(SEVERITY_HIGH, PSTR("CURRENT"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("CURRENT"));
} else{
gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("THROTTLE"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("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_P(SEVERITY_HIGH, PSTR("Calibration Successful!"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Calibration Successful!"));
} else {
// compensation vector never updated, report failure
gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("Failed!"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Failed!"));
compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED);
}

10
ArduCopter/control_autotune.cpp
View File

@ -1006,19 +1006,19 @@ void Copter::autotune_update_gcs(uint8_t message_id)
{
switch (message_id) {
case AUTOTUNE_MESSAGE_STARTED:
gcs_send_text_P(SEVERITY_HIGH,PSTR("AutoTune: Started"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("AutoTune: Started"));
break;
case AUTOTUNE_MESSAGE_STOPPED:
gcs_send_text_P(SEVERITY_HIGH,PSTR("AutoTune: Stopped"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("AutoTune: Stopped"));
break;
case AUTOTUNE_MESSAGE_SUCCESS:
gcs_send_text_P(SEVERITY_HIGH,PSTR("AutoTune: Success"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("AutoTune: Success"));
break;
case AUTOTUNE_MESSAGE_FAILED:
gcs_send_text_P(SEVERITY_HIGH,PSTR("AutoTune: Failed"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("AutoTune: Failed"));
break;
case AUTOTUNE_MESSAGE_SAVED_GAINS:
gcs_send_text_P(SEVERITY_HIGH,PSTR("AutoTune: Saved Gains"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("AutoTune: Saved Gains"));
break;
}
}

8
ArduCopter/crash_check.cpp
View File

@ -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_P(SEVERITY_HIGH,PSTR("Crash: Disarming"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("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_P(SEVERITY_HIGH,PSTR("Parachute: Released!"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("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_P(SEVERITY_HIGH,PSTR("Parachute: Landed"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("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_P(SEVERITY_HIGH,PSTR("Parachute: Too Low"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Parachute: Too Low"));
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_TOO_LOW);
return;

2
ArduCopter/ekf_check.cpp
View File

@ -60,7 +60,7 @@ void Copter::ekf_check()
Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_EKFCHECK_BAD_VARIANCE);
// send message to gcs
if ((hal.scheduler->millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("EKF variance"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("EKF variance"));
ekf_check_state.last_warn_time = hal.scheduler->millis();
}
failsafe_ekf_event();

8
ArduCopter/esc_calibration.cpp
View File

@ -39,7 +39,7 @@ void Copter::esc_calibration_startup_check()
// we will enter esc_calibrate mode on next reboot
g.esc_calibrate.set_and_save(ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
// send message to gcs
gcs_send_text_P(SEVERITY_HIGH,PSTR("ESC Calibration: restart board"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("ESC Calibration: restart board"));
// turn on esc calibration notification
AP_Notify::flags.esc_calibration = true;
// block until we restart
@ -85,7 +85,7 @@ void Copter::esc_calibration_passthrough()
motors.set_update_rate(50);
// send message to GCS
gcs_send_text_P(SEVERITY_HIGH,PSTR("ESC Calibration: passing pilot throttle to ESCs"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("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_P(SEVERITY_HIGH,PSTR("ESC Calibration: auto calibration"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("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_P(SEVERITY_HIGH,PSTR("ESC Calibration: push safety switch"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("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_P(SEVERITY_HIGH,PSTR("Low Battery!"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Low Battery!"));
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
}

6
ArduCopter/motor_test.cpp
View File

@ -74,19 +74,19 @@ bool Copter::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
// check rc has been calibrated
pre_arm_rc_checks();
if(check_rc && !ap.pre_arm_rc_check) {
gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH,PSTR("Motor Test: RC not calibrated"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Motor Test: RC not calibrated"));
return false;
}
// ensure we are landed
if (!ap.land_complete) {
gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH,PSTR("Motor Test: vehicle not landed"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Motor Test: vehicle not landed"));
return false;
}
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH,PSTR("Motor Test: Safety Switch"));
gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Motor Test: Safety Switch"));
return false;
}

108
ArduCopter/motors.cpp
View File

@ -153,7 +153,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
}
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("ARMING MOTORS"));
#endif
// Remember Orientation
@ -176,7 +176,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
startup_ground(true);
// final check that gyros calibrated successfully
if (((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) && !ins.gyro_calibrated_ok_all()) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Gyro calibration failed"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Gyro calibration failed"));
AP_Notify::flags.armed = false;
failsafe_enable();
in_arm_motors = false;
@ -190,7 +190,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
// if we are using motor interlock switch and it's enabled, fail to arm
if (ap.using_interlock && motors.get_interlock()){
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Motor Interlock Enabled"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Motor Interlock Enabled"));
AP_Notify::flags.armed = false;
return false;
}
@ -201,7 +201,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
set_motor_emergency_stop(false);
// if we are using motor Estop switch, it must not be in Estop position
} else if (check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && ap.motor_emergency_stop){
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Motor Emergency Stopped"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Motor Emergency Stopped"));
AP_Notify::flags.armed = false;
return false;
}
@ -256,7 +256,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// at the same time. This cannot be allowed.
if (check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK) && check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Interlock/E-Stop Conflict"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Interlock/E-Stop Conflict"));
}
return false;
}
@ -268,7 +268,7 @@ bool Copter::pre_arm_checks(bool display_failure)
set_using_interlock(check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK));
if (ap.using_interlock && motors.get_interlock()){
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Motor Interlock Enabled"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Motor Interlock Enabled"));
}
return false;
}
@ -277,7 +277,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// and warn if it is
if (check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && ap.motor_emergency_stop){
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Motor Emergency Stopped"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Motor Emergency Stopped"));
}
return false;
}
@ -301,7 +301,7 @@ bool Copter::pre_arm_checks(bool display_failure)
pre_arm_rc_checks();
if(!ap.pre_arm_rc_check) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: RC not calibrated"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: RC not calibrated"));
}
return false;
}
@ -310,7 +310,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// barometer health check
if(!barometer.all_healthy()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Barometer not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Barometer not healthy"));
}
return false;
}
@ -322,7 +322,7 @@ bool Copter::pre_arm_checks(bool display_failure)
if (using_baro_ref) {
if (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Altitude disparity"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Altitude disparity"));
}
return false;
}
@ -334,7 +334,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check the primary compass is healthy
if(!compass.healthy()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass not healthy"));
}
return false;
}
@ -342,7 +342,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check compass learning is on or offsets have been set
if(!compass.configured()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not calibrated"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass not calibrated"));
}
return false;
}
@ -351,7 +351,7 @@ bool Copter::pre_arm_checks(bool display_failure)
Vector3f offsets = compass.get_offsets();
if(offsets.length() > COMPASS_OFFSETS_MAX) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass offsets too high"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass offsets too high"));
}
return false;
}
@ -360,7 +360,7 @@ bool Copter::pre_arm_checks(bool display_failure)
float mag_field = compass.get_field().length();
if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check mag field"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check mag field"));
}
return false;
}
@ -377,7 +377,7 @@ bool Copter::pre_arm_checks(bool display_failure)
Vector3f vec_diff = mag_vec - prime_mag_vec;
if (compass.use_for_yaw(i) && vec_diff.length() > COMPASS_ACCEPTABLE_VECTOR_DIFF) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: inconsistent compasses"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: inconsistent compasses"));
}
return false;
}
@ -396,7 +396,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check fence is initialised
if(!fence.pre_arm_check()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: check fence"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: check fence"));
}
return false;
}
@ -407,7 +407,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check accelerometers have been calibrated
if(!ins.accel_calibrated_ok_all()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Accels not calibrated"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Accels not calibrated"));
}
return false;
}
@ -415,7 +415,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check accels are healthy
if(!ins.get_accel_health_all()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Accelerometers not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Accelerometers not healthy"));
}
return false;
}
@ -439,7 +439,7 @@ bool Copter::pre_arm_checks(bool display_failure)
}
if (vec_diff.length() > threshold) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: inconsistent Accelerometers"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: inconsistent Accelerometers"));
}
return false;
}
@ -450,7 +450,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check gyros are healthy
if(!ins.get_gyro_health_all()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Gyros not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Gyros not healthy"));
}
return false;
}
@ -463,7 +463,7 @@ bool Copter::pre_arm_checks(bool display_failure)
Vector3f vec_diff = ins.get_gyro(i) - ins.get_gyro();
if (vec_diff.length() > PREARM_MAX_GYRO_VECTOR_DIFF) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: inconsistent Gyros"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: inconsistent Gyros"));
}
return false;
}
@ -477,7 +477,7 @@ bool Copter::pre_arm_checks(bool display_failure)
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if(hal.analogin->board_voltage() < BOARD_VOLTAGE_MIN || hal.analogin->board_voltage() > BOARD_VOLTAGE_MAX) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check Board Voltage"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check Board Voltage"));
}
return false;
}
@ -489,7 +489,7 @@ bool Copter::pre_arm_checks(bool display_failure)
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check Battery"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check Battery"));
}
return false;
}
@ -501,7 +501,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// ensure ch7 and ch8 have different functions
if (check_duplicate_auxsw()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Duplicate Aux Switch Options"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Duplicate Aux Switch Options"));
}
return false;
}
@ -511,7 +511,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900
if (channel_throttle->radio_min <= g.failsafe_throttle_value+10 || g.failsafe_throttle_value < 910) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check FS_THR_VALUE"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check FS_THR_VALUE"));
}
return false;
}
@ -520,7 +520,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// lean angle parameter check
if (aparm.angle_max < 1000 || aparm.angle_max > 8000) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check ANGLE_MAX"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check ANGLE_MAX"));
}
return false;
}
@ -528,7 +528,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// acro balance parameter check
if ((g.acro_balance_roll > g.p_stabilize_roll.kP()) || (g.acro_balance_pitch > g.p_stabilize_pitch.kP())) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: ACRO_BAL_ROLL/PITCH"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: ACRO_BAL_ROLL/PITCH"));
}
return false;
}
@ -537,7 +537,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check range finder if optflow enabled
if (optflow.enabled() && !sonar.pre_arm_check()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: check range finder"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: check range finder"));
}
return false;
}
@ -546,7 +546,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check helicopter parameters
if (!motors.parameter_check()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check Heli Parameters"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check Heli Parameters"));
}
return false;
}
@ -559,9 +559,9 @@ bool Copter::pre_arm_checks(bool display_failure)
if (g.failsafe_throttle != FS_THR_DISABLED && channel_throttle->radio_in < g.failsafe_throttle_value) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Collective below Failsafe"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Collective below Failsafe"));
#else
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Throttle below Failsafe"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Throttle below Failsafe"));
#endif
}
return false;
@ -622,7 +622,7 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
// always check if inertial nav has started and is ready
if(!ahrs.get_NavEKF().healthy()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Waiting for Nav Checks"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Waiting for Nav Checks"));
}
return false;
}
@ -652,7 +652,7 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
// ensure GPS is ok
if (!position_ok()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Need 3D Fix"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Need 3D Fix"));
}
AP_Notify::flags.pre_arm_gps_check = false;
return false;
@ -661,7 +661,7 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
// check home and EKF origin are not too far
if (far_from_EKF_origin(ahrs.get_home())) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: EKF-home variance"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: EKF-home variance"));
}
AP_Notify::flags.pre_arm_gps_check = false;
return false;
@ -670,7 +670,7 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
// warn about hdop separately - to prevent user confusion with no gps lock
if (gps.get_hdop() > g.gps_hdop_good) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: High GPS HDOP"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: High GPS HDOP"));
}
AP_Notify::flags.pre_arm_gps_check = false;
return false;
@ -695,13 +695,13 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
if(!ins.get_accel_health_all()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Accelerometers not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Accelerometers not healthy"));
}
return false;
}
if(!ins.get_gyro_health_all()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Gyros not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Gyros not healthy"));
}
return false;
}
@ -710,7 +710,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// always check if inertial nav has started and is ready
if(!ahrs.healthy()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Waiting for Nav Checks"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Waiting for Nav Checks"));
}
return false;
}
@ -718,7 +718,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// always check if the current mode allows arming
if (!mode_allows_arming(control_mode, arming_from_gcs)) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Mode not armable"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Mode not armable"));
}
return false;
}
@ -728,7 +728,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// heli specific arming check
if ((rsc_control_deglitched > 0) || !motors.allow_arming()){
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Rotor Control Engaged"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Rotor Control Engaged"));
}
return false;
}
@ -744,7 +744,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// baro health check
if (!barometer.all_healthy()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Barometer not healthy"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Barometer not healthy"));
}
return false;
}
@ -755,7 +755,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
if (using_baro_ref && (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM)) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Altitude disparity"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Altitude disparity"));
}
return false;
}
@ -770,7 +770,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// check vehicle is within fence
if(!fence.pre_arm_check()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: check fence"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: check fence"));
}
return false;
}
@ -780,7 +780,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > aparm.angle_max) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Leaning"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Leaning"));
}
return false;
}
@ -790,7 +790,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Check Battery"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Check Battery"));
}
return false;
}
@ -802,9 +802,9 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if (g.failsafe_throttle != FS_THR_DISABLED && channel_throttle->radio_in < g.failsafe_throttle_value) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Collective below Failsafe"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Collective below Failsafe"));
#else
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Throttle below Failsafe"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Throttle below Failsafe"));
#endif
}
return false;
@ -816,9 +816,9 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if (channel_throttle->control_in > get_takeoff_trigger_throttle()) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Collective too high"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Collective too high"));
#else
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Throttle too high"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Throttle too high"));
#endif
}
return false;
@ -827,9 +827,9 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if ((mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && channel_throttle->control_in > 0) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Collective too high"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Collective too high"));
#else
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Throttle too high"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Throttle too high"));
#endif
}
return false;
@ -840,7 +840,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Safety Switch"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Safety Switch"));
}
return false;
}
@ -858,7 +858,7 @@ void Copter::init_disarm_motors()
}
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("DISARMING MOTORS"));
#endif
// save compass offsets learned by the EKF
@ -928,7 +928,7 @@ 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_P(SEVERITY_HIGH,PSTR("Locate Copter Alarm!"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Locate Copter Alarm!"));
}
} else {
soundalarm_counter++;

4
ArduCopter/sensors.cpp
View File

@ -4,13 +4,13 @@
void Copter::init_barometer(bool full_calibration)
{
gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Calibrating barometer"));
if (full_calibration) {
barometer.calibrate();
}else{
barometer.update_calibration();
}
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("barometer calibration complete"));
}
// return barometric altitude in centimeters

2
ArduCopter/switches.cpp
View File

@ -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_P(SEVERITY_HIGH, PSTR("Trim saved"));
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Trim saved"));
}
// auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions

4
ArduCopter/system.cpp
View File

@ -223,7 +223,7 @@ void Copter::init_ardupilot()
while (barometer.get_last_update() == 0) {
// the barometer begins updating when we get the first
// HIL_STATE message
gcs_send_text_P(SEVERITY_LOW, PSTR("Waiting for first HIL_STATE message"));
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Waiting for first HIL_STATE message"));
delay(1000);
}
@ -284,7 +284,7 @@ void Copter::init_ardupilot()
//******************************************************************************
void Copter::startup_ground(bool force_gyro_cal)
{
gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("GROUND START"));
// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
ahrs.init();