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AP_Arming: eliminate GCS_MAVLINK::send_statustext_all

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This commit is contained in:
Peter Barker 2017-07-09 14:06:18 +10:00 committed by Francisco Ferreira
parent 3214b48f8c
commit 9e76223c34
1 changed files with 31 additions and 31 deletions
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62
libraries/AP_Arming/AP_Arming.cpp
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@ -117,7 +117,7 @@ bool AP_Arming::barometer_checks(bool report)
(checks_to_perform & ARMING_CHECK_BARO)) {
if (!barometer.all_healthy()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Barometer not healthy");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Barometer not healthy");
}
return false;
}
@ -137,7 +137,7 @@ bool AP_Arming::airspeed_checks(bool report)
}
if (airspeed->enabled() && airspeed->use() && !airspeed->healthy()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Airspeed not healthy");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Airspeed not healthy");
}
return false;
}
@ -152,13 +152,13 @@ bool AP_Arming::logging_checks(bool report)
(checks_to_perform & ARMING_CHECK_LOGGING)) {
if (DataFlash_Class::instance()->logging_failed()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Logging failed");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Logging failed");
}
return false;
}
if (!DataFlash_Class::instance()->CardInserted()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: No SD card");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: No SD card");
}
return false;
}
@ -173,25 +173,25 @@ bool AP_Arming::ins_checks(bool report)
const AP_InertialSensor &ins = ahrs.get_ins();
if (!ins.get_gyro_health_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Gyros not healthy");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Gyros not healthy");
}
return false;
}
if (!ins.gyro_calibrated_ok_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Gyros not calibrated");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Gyros not calibrated");
}
return false;
}
if (!ins.get_accel_health_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Accels not healthy");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accels not healthy");
}
return false;
}
if (!ins.accel_calibrated_ok_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: 3D Accel calibration needed");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: 3D Accel calibration needed");
}
return false;
}
@ -199,7 +199,7 @@ bool AP_Arming::ins_checks(bool report)
//check if accelerometers have calibrated and require reboot
if (ins.accel_cal_requires_reboot()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Accels calibrated requires reboot");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accels calibrated requires reboot");
}
return false;
}
@ -233,7 +233,7 @@ bool AP_Arming::ins_checks(bool report)
}
if (AP_HAL::millis() - last_accel_pass_ms[i] > 10000) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Accels inconsistent");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accels inconsistent");
}
return false;
}
@ -257,7 +257,7 @@ bool AP_Arming::ins_checks(bool report)
}
if (AP_HAL::millis() - last_gyro_pass_ms[i] > 10000) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Gyros inconsistent");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Gyros inconsistent");
}
return false;
}
@ -280,14 +280,14 @@ bool AP_Arming::compass_checks(bool report)
if (!_compass.healthy()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass not healthy");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass not healthy");
}
return false;
}
// check compass learning is on or offsets have been set
if (!_compass.learn_offsets_enabled() && !_compass.configured()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass not calibrated");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass not calibrated");
}
return false;
}
@ -295,7 +295,7 @@ bool AP_Arming::compass_checks(bool report)
//check if compass is calibrating
if (_compass.is_calibrating()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Arm: Compass calibration running");
gcs().send_text(MAV_SEVERITY_CRITICAL, "Arm: Compass calibration running");
}
return false;
}
@ -303,7 +303,7 @@ bool AP_Arming::compass_checks(bool report)
//check if compass has calibrated and requires reboot
if (_compass.compass_cal_requires_reboot()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot");
}
return false;
}
@ -312,7 +312,7 @@ bool AP_Arming::compass_checks(bool report)
Vector3f offsets = _compass.get_offsets();
if (offsets.length() > _compass.get_offsets_max()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass offsets too high");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass offsets too high");
}
return false;
}
@ -321,7 +321,7 @@ bool AP_Arming::compass_checks(bool report)
float mag_field = _compass.get_field().length();
if (mag_field > AP_ARMING_COMPASS_MAGFIELD_MAX || mag_field < AP_ARMING_COMPASS_MAGFIELD_MIN) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Check mag field");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Check mag field");
}
return false;
}
@ -329,7 +329,7 @@ bool AP_Arming::compass_checks(bool report)
// check all compasses point in roughly same direction
if (!_compass.consistent()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,"PreArm: Compasses inconsistent");
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compasses inconsistent");
}
return false;
}
@ -347,7 +347,7 @@ bool AP_Arming::gps_checks(bool report)
if (home_status() == HOME_UNSET ||
gps.status() < AP_GPS::GPS_OK_FIX_3D) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Bad GPS Position");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Bad GPS Position");
}
return false;
}
@ -357,7 +357,7 @@ bool AP_Arming::gps_checks(bool report)
uint8_t first_unconfigured = gps.first_unconfigured_gps();
if (first_unconfigured != AP_GPS::GPS_ALL_CONFIGURED) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,
gcs().send_text(MAV_SEVERITY_CRITICAL,
"PreArm: GPS %d failing configuration checks",
first_unconfigured + 1);
gps.broadcast_first_configuration_failure_reason();
@ -371,7 +371,7 @@ bool AP_Arming::gps_checks(bool report)
float distance_m;
if (!gps.all_consistent(distance_m)) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,
gcs().send_text(MAV_SEVERITY_CRITICAL,
"PreArm: GPS positions differ by %4.1fm",
(double)distance_m);
}
@ -379,7 +379,7 @@ bool AP_Arming::gps_checks(bool report)
}
if (!gps.blend_health_check()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: GPS blending unhealthy");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: GPS blending unhealthy");
}
return false;
}
@ -395,7 +395,7 @@ bool AP_Arming::battery_checks(bool report)
if (AP_Notify::flags.failsafe_battery) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Battery failsafe on");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Battery failsafe on");
}
return false;
}
@ -403,7 +403,7 @@ bool AP_Arming::battery_checks(bool report)
for (int i = 0; i < _battery.num_instances(); i++) {
if ((_min_voltage[i] > 0.0f) && (_battery.voltage(i) < _min_voltage[i])) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Battery %d voltage %.1f below minimum %.1f",
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Battery %d voltage %.1f below minimum %.1f",
i+1,
(double)_battery.voltage(i),
(double)_min_voltage[i]);
@ -423,7 +423,7 @@ bool AP_Arming::hardware_safety_check(bool report)
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Hardware safety switch");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Hardware safety switch");
}
return false;
}
@ -439,7 +439,7 @@ bool AP_Arming::manual_transmitter_checks(bool report)
if (AP_Notify::flags.failsafe_radio) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Radio failsafe on");
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Radio failsafe on");
}
return false;
}
@ -459,7 +459,7 @@ bool AP_Arming::board_voltage_checks(bool report)
if(!is_zero(hal.analogin->board_voltage()) &&
((hal.analogin->board_voltage() < AP_ARMING_BOARD_VOLTAGE_MIN) || (hal.analogin->board_voltage() > AP_ARMING_BOARD_VOLTAGE_MAX))) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,"PreArm: Check board voltage");
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check board voltage");
}
return false;
}
@ -494,7 +494,7 @@ bool AP_Arming::arm_checks(uint8_t method)
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_LOGGING)) {
if (!DataFlash_Class::instance()->logging_started()) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Arm: Logging not started");
gcs().send_text(MAV_SEVERITY_CRITICAL, "Arm: Logging not started");
return false;
}
}
@ -516,7 +516,7 @@ bool AP_Arming::arm(uint8_t method)
if (checks_to_perform == ARMING_CHECK_NONE) {
armed = true;
arming_method = NONE;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Throttle armed");
gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed");
return true;
}
@ -524,7 +524,7 @@ bool AP_Arming::arm(uint8_t method)
armed = true;
arming_method = method;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Throttle armed");
gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed");
//TODO: Log motor arming to the dataflash
//Can't do this from this class until there is a unified logging library
@ -550,7 +550,7 @@ bool AP_Arming::disarm()
}
armed = false;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Throttle disarmed");
gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed");
//TODO: Log motor disarming to the dataflash
//Can't do this from this class until there is a unified logging library.