From 7feef72b3411d819b9bc9995cec587b558976908 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 22 Sep 2017 13:31:44 +1000
Subject: [PATCH] Plane: improve failsafe notifications

---
 ArduPlane/Plane.h    |  1 +
 ArduPlane/events.cpp | 13 ++++++++++---
 ArduPlane/system.cpp |  4 ++--
 3 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 3144a1fb47..0114bd7f4a 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -901,6 +901,7 @@ private:
     void failsafe_short_on_event(enum failsafe_state fstype, mode_reason_t reason);
     void failsafe_long_on_event(enum failsafe_state fstype, mode_reason_t reason);
     void failsafe_short_off_event(mode_reason_t reason);
+    void failsafe_long_off_event(mode_reason_t reason);
     void low_battery_event(void);
     void update_events(void);
     uint8_t max_fencepoints(void);
diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp
index badf86ac51..49505b51f3 100644
--- a/ArduPlane/events.cpp
+++ b/ArduPlane/events.cpp
@@ -5,7 +5,7 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, mode_reason_t re
     // This is how to handle a short loss of control signal failsafe.
     failsafe.state = fstype;
     failsafe.ch3_timer_ms = millis();
-    gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event on, ");
+    gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event on: type=%u/reason=%u", fstype, reason);
     switch(control_mode)
     {
     case MANUAL:
@@ -61,7 +61,7 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, mode_reason_t re
 void Plane::failsafe_long_on_event(enum failsafe_state fstype, mode_reason_t reason)
 {
     // This is how to handle a long loss of control signal failsafe.
-    gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event on, ");
+    gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event on: type=%u/reason=%u", fstype, reason);
     //  If the GCS is locked up we allow control to revert to RC
     hal.rcin->clear_overrides();
     failsafe.state = fstype;
@@ -123,7 +123,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, mode_reason_t rea
 void Plane::failsafe_short_off_event(mode_reason_t reason)
 {
     // We're back in radio contact
-    gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event off");
+    gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event off: reason=%u", reason);
     failsafe.state = FAILSAFE_NONE;
 
     // re-read the switch so we can return to our preferred mode
@@ -134,6 +134,13 @@ void Plane::failsafe_short_off_event(mode_reason_t reason)
     }
 }
 
+void Plane::failsafe_long_off_event(mode_reason_t reason)
+{
+    // We're back in radio contact
+    gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event off: reason=%u", reason);
+    failsafe.state = FAILSAFE_NONE;
+}
+
 void Plane::low_battery_event(void)
 {
     if (failsafe.low_battery) {
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 5c4008a1af..a6b0342413 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -509,10 +509,10 @@ void Plane::check_long_failsafe()
         // We do not change state but allow for user to change mode
         if (failsafe.state == FAILSAFE_GCS && 
             (tnow - failsafe.last_heartbeat_ms) < timeout_seconds*1000) {
-            failsafe.state = FAILSAFE_NONE;
+            failsafe_long_off_event(MODE_REASON_GCS_FAILSAFE);
         } else if (failsafe.state == FAILSAFE_LONG && 
                    !failsafe.ch3_failsafe) {
-            failsafe.state = FAILSAFE_NONE;
+            failsafe_long_off_event(MODE_REASON_RADIO_FAILSAFE);
         }
     }
 }