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Rover: revise text messages

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Text revisions on Rover. Uniformization on messages severity.
This commit is contained in:
Luis Vale Gonçalves 2015-11-18 18:53:14 +00:00 committed by Randy Mackay
parent 6dd28f632c
commit 999e99c6f3
5 changed files with 18 additions and 18 deletions
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4
APMrover2/GCS_Mavlink.cpp
View File

@ -878,7 +878,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
uint8_t result = MAV_RESULT_UNSUPPORTED;
// do command
send_text(MAV_SEVERITY_INFO,"command received: ");
send_text(MAV_SEVERITY_INFO,"Command received: ");
switch(packet.command) {
@ -1382,7 +1382,7 @@ void Rover::mavlink_delay_cb()
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM...");
gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM");
}
check_usb_mux();

4
APMrover2/commands.cpp
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@ -30,7 +30,7 @@ void Rover::set_next_WP(const struct Location& loc)
// location as the previous waypoint, to prevent immediately
// considering the waypoint complete
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Resetting prev_WP");
gcs_send_text(MAV_SEVERITY_NOTICE, "Resetting previous WP");
prev_WP = current_loc;
}
@ -63,7 +63,7 @@ void Rover::init_home()
return;
}
gcs_send_text(MAV_SEVERITY_INFO, "init home");
gcs_send_text(MAV_SEVERITY_INFO, "Init HOME");
ahrs.set_home(gps.location());
home_is_set = HOME_SET_NOT_LOCKED;

14
APMrover2/commands_logic.cpp
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@ -117,7 +117,7 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
void Rover::exit_mission()
{
if (control_mode == AUTO) {
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "No commands. Can't set AUTO - setting HOLD");
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "No commands. Can't set AUTO. Setting HOLD");
set_mode(HOLD);
}
}
@ -164,7 +164,7 @@ bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
// this is a command that doesn't require verify
return true;
}
gcs_send_text(MAV_SEVERITY_CRITICAL,"verify_conditon: Unsupported command");
gcs_send_text(MAV_SEVERITY_CRITICAL,"Verify conditon. Unsupported command");
return true;
}
return false;
@ -203,7 +203,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// Check if we need to loiter at this waypoint
if (loiter_time_max > 0) {
if (loiter_time == 0) { // check if we are just starting loiter
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Waypoint #%i - Loiter for %i seconds",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%i. Loiter for %i seconds",
(unsigned)cmd.index,
(unsigned)loiter_time_max);
// record the current time i.e. start timer
@ -214,7 +214,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
return false;
}
} else {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Waypoint #%i dist %um",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%i. Distance %um",
(unsigned)cmd.index,
(unsigned)get_distance(current_loc, next_WP));
}
@ -228,7 +228,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// check if we have gone futher past the wp then last time and output new message if we have
if ((uint32_t)distance_past_wp != (uint32_t)get_distance(current_loc, next_WP)) {
distance_past_wp = get_distance(current_loc, next_WP);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed Waypoint #%i dist %um",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed waypoint #%i. Distance %um",
(unsigned)cmd.index,
(unsigned)distance_past_wp);
}
@ -248,14 +248,14 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
bool Rover::verify_RTL()
{
if (wp_distance <= g.waypoint_radius) {
gcs_send_text(MAV_SEVERITY_INFO,"Reached Destination");
gcs_send_text(MAV_SEVERITY_INFO,"Reached destination");
rtl_complete = true;
return true;
}
// have we gone past the waypoint?
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Destination: Distance away %um",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached destination. Distance away %um",
(unsigned)get_distance(current_loc, next_WP));
rtl_complete = true;
return true;

4
APMrover2/sensors.cpp
View File

@ -6,7 +6,7 @@ void Rover::init_barometer(void)
{
gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
barometer.calibrate();
gcs_send_text(MAV_SEVERITY_INFO, "barometer calibration complete");
gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
}
void Rover::init_sonar(void)
@ -83,7 +83,7 @@ void Rover::read_sonars(void)
obstacle.detected_count++;
}
if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Sonar obstacle %u cm",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar obstacle %u cm",
(unsigned)obstacle.sonar1_distance_cm);
}
obstacle.detected_time_ms = AP_HAL::millis();

10
APMrover2/system.cpp
View File

@ -214,10 +214,10 @@ void Rover::startup_ground(void)
{
set_mode(INITIALISING);
gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> GROUND START");
gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start");
#if(GROUND_START_DELAY > 0)
gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With Delay");
gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay");
delay(GROUND_START_DELAY * 1000);
#endif
@ -241,7 +241,7 @@ void Rover::startup_ground(void)
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash);
gcs_send_text(MAV_SEVERITY_INFO,"\n\n Ready to drive.");
gcs_send_text(MAV_SEVERITY_INFO,"Ready to drive");
}
/*
@ -384,12 +384,12 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
void Rover::startup_INS_ground(void)
{
gcs_send_text(MAV_SEVERITY_INFO, "Warming up ADC...");
gcs_send_text(MAV_SEVERITY_INFO, "Warming up ADC");
mavlink_delay(500);
// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
// -----------------------
gcs_send_text(MAV_SEVERITY_INFO, "Beginning INS calibration; do not move vehicle");
gcs_send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle");
mavlink_delay(1000);
ahrs.init();