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APM_OBC: status text severity to INFO or ERROR

This commit is contained in:
lvale 2015-11-09 16:02:12 +09:00 committed by Randy Mackay
parent b601ef2f9e
commit 89b593b1f4
1 changed files with 7 additions and 7 deletions
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14
libraries/APM_OBC/APM_OBC.cpp
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@ -131,7 +131,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
// we always check for fence breach
if (geofence_breached || check_altlimit()) {
if (!_terminate) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Fence TERMINATE");
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Fence TERMINATE");
_terminate.set(1);
}
}
@ -142,7 +142,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
_rc_fail_time != 0 &&
(hal.scheduler->millis() - last_valid_rc_ms) > (unsigned)_rc_fail_time.get()) {
if (!_terminate) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "RC failure terminate");
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "RC failure terminate");
_terminate.set(1);
}
}
@ -164,7 +164,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
// we startup in preflight mode. This mode ends when
// we first enter auto.
if (mode == OBC_AUTO) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Starting AFS_AUTO");
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Starting AFS_AUTO");
_state = STATE_AUTO;
}
break;
@ -172,7 +172,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
case STATE_AUTO:
// this is the normal mode.
if (!gcs_link_ok) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "State DATA_LINK_LOSS");
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_ERROR, "State DATA_LINK_LOSS");
_state = STATE_DATA_LINK_LOSS;
if (_wp_comms_hold) {
_saved_wp = mission.get_current_nav_cmd().index;
@ -206,12 +206,12 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
// losing GPS lock when data link is lost
// leads to termination
if (!_terminate) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Dual loss TERMINATE");
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Dual loss TERMINATE");
_terminate.set(1);
}
} else if (gcs_link_ok) {
_state = STATE_AUTO;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "GCS OK");
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GCS OK");
// we only return to the mission if we have not exceeded AFS_MAX_COM_LOSS
if (_saved_wp != 0 &&
(_max_comms_loss <= 0 ||
@ -231,7 +231,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
_terminate.set(1);
}
} else if (gps_lock_ok) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "GPS OK");
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GPS OK");
_state = STATE_AUTO;
// we only return to the mission if we have not exceeded AFS_MAX_GPS_LOSS
if (_saved_wp != 0 &&