Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: move Log_Write_Error into library

This commit is contained in:
Peter Barker 2019-03-25 12:31:46 +11:00 committed by Peter Barker
parent 4d4a63cc33
commit c7e21d95ef
16 changed files with 47 additions and 129 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ArduCopter/Copter.h
View File

@ -724,7 +724,6 @@ private:
void Log_Write_Data(uint8_t id, int16_t value); void Log_Write_Data(uint8_t id, int16_t value);
void Log_Write_Data(uint8_t id, uint16_t value); void Log_Write_Data(uint8_t id, uint16_t value);
void Log_Write_Data(uint8_t id, float value); void Log_Write_Data(uint8_t id, float value);
void Log_Write_Error(uint8_t sub_system, uint8_t error_code);
void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high); void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high);
void Log_Sensor_Health(); void Log_Sensor_Health();
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME

27
ArduCopter/Log.cpp
View File

@ -229,25 +229,6 @@ void Copter::Log_Write_Data(uint8_t id, float value)
} }
} }
struct PACKED log_Error {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t sub_system;
uint8_t error_code;
};
// Write an error packet
void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
{
struct log_Error pkt = {
LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
time_us : AP_HAL::micros64(),
sub_system : sub_system,
error_code : error_code,
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
}
struct PACKED log_ParameterTuning { struct PACKED log_ParameterTuning {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
@ -279,13 +260,14 @@ void Copter::Log_Sensor_Health()
// check baro // check baro
if (sensor_health.baro != barometer.healthy()) { if (sensor_health.baro != barometer.healthy()) {
sensor_health.baro = barometer.healthy(); sensor_health.baro = barometer.healthy();
Log_Write_Error(ERROR_SUBSYSTEM_BARO, (sensor_health.baro ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_UNHEALTHY)); AP::logger().Write_Error(LogErrorSubsystem::BARO,
(sensor_health.baro ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
} }
// check compass // check compass
if (sensor_health.compass != compass.healthy()) { if (sensor_health.compass != compass.healthy()) {
sensor_health.compass = compass.healthy(); sensor_health.compass = compass.healthy();
Log_Write_Error(ERROR_SUBSYSTEM_COMPASS, (sensor_health.compass ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_UNHEALTHY)); AP::logger().Write_Error(LogErrorSubsystem::COMPASS, (sensor_health.compass ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
} }
// check primary GPS // check primary GPS
@ -421,8 +403,6 @@ const struct LogStructure Copter::log_structure[] = {
"DU32", "QBI", "TimeUS,Id,Value", "s--", "F--" }, "DU32", "QBI", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float), { LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--" }, "DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_ERROR_MSG, sizeof(log_Error),
"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" },
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
{ LOG_HELI_MSG, sizeof(log_Heli), { LOG_HELI_MSG, sizeof(log_Heli),
"HELI", "Qff", "TimeUS,DRRPM,ERRPM", "s--", "F--" }, "HELI", "Qff", "TimeUS,DRRPM,ERRPM", "s--", "F--" },
@ -463,7 +443,6 @@ void Copter::Log_Write_Data(uint8_t id, uint32_t value) {}
void Copter::Log_Write_Data(uint8_t id, int16_t value) {} void Copter::Log_Write_Data(uint8_t id, int16_t value) {}
void Copter::Log_Write_Data(uint8_t id, uint16_t value) {} void Copter::Log_Write_Data(uint8_t id, uint16_t value) {}
void Copter::Log_Write_Data(uint8_t id, float value) {} void Copter::Log_Write_Data(uint8_t id, float value) {}
void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high) {} void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high) {}
void Copter::Log_Sensor_Health() {} void Copter::Log_Sensor_Health() {}
void Copter::Log_Write_Precland() {} void Copter::Log_Write_Precland() {}

6
ArduCopter/avoidance_adsb.cpp
View File

@ -90,7 +90,8 @@ MAV_COLLISION_ACTION AP_Avoidance_Copter::handle_avoidance(const AP_Avoidance::O
// log to dataflash // log to dataflash
if (failsafe_state_change) { if (failsafe_state_change) {
copter.Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, actual_action); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_ADSB,
LogErrorCode(actual_action));
} }
// return with action taken // return with action taken
@ -102,7 +103,8 @@ void AP_Avoidance_Copter::handle_recovery(uint8_t recovery_action)
// check we are coming out of failsafe // check we are coming out of failsafe
if (copter.failsafe.adsb) { if (copter.failsafe.adsb) {
copter.failsafe.adsb = false; copter.failsafe.adsb = false;
copter.Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_ERROR_RESOLVED); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_ADSB,
LogErrorCode::ERROR_RESOLVED);
// restore flight mode if requested and user has not changed mode since // restore flight mode if requested and user has not changed mode since
if (copter.control_mode_reason == MODE_REASON_AVOIDANCE) { if (copter.control_mode_reason == MODE_REASON_AVOIDANCE) {

10
ArduCopter/crash_check.cpp
View File

@ -48,7 +48,7 @@ void Copter::crash_check()
// check if crashing for 2 seconds // check if crashing for 2 seconds
if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * scheduler.get_loop_rate_hz())) { if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * scheduler.get_loop_rate_hz())) {
// log an error in the dataflash // log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH); AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_CRASH);
// keep logging even if disarmed: // keep logging even if disarmed:
AP::logger().set_force_log_disarmed(true); AP::logger().set_force_log_disarmed(true);
// send message to gcs // send message to gcs
@ -116,7 +116,7 @@ void Copter::thrust_loss_check()
// reset counter // reset counter
thrust_loss_counter = 0; thrust_loss_counter = 0;
// log an error in the dataflash // log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_THRUST_LOSS_CHECK, ERROR_CODE_FAILSAFE_OCCURRED); AP::logger().Write_Error(LogErrorSubsystem::THRUST_LOSS_CHECK, LogErrorCode::FAILSAFE_OCCURRED);
// send message to gcs // send message to gcs
gcs().send_text(MAV_SEVERITY_EMERGENCY, "Potential Thrust Loss (%d)", (int)motors->get_lost_motor() + 1); gcs().send_text(MAV_SEVERITY_EMERGENCY, "Potential Thrust Loss (%d)", (int)motors->get_lost_motor() + 1);
// enable thrust loss handling // enable thrust loss handling
@ -200,7 +200,7 @@ void Copter::parachute_check()
// reset control loss counter // reset control loss counter
control_loss_count = 0; control_loss_count = 0;
// log an error in the dataflash // log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL); AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_LOSS_OF_CONTROL);
// release parachute // release parachute
parachute_release(); parachute_release();
} }
@ -234,7 +234,7 @@ void Copter::parachute_manual_release()
// warn user of reason for failure // warn user of reason for failure
gcs().send_text(MAV_SEVERITY_INFO,"Parachute: Landed"); gcs().send_text(MAV_SEVERITY_INFO,"Parachute: Landed");
// log an error in the dataflash // log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_LANDED); AP::logger().Write_Error(LogErrorSubsystem::PARACHUTES, LogErrorCode::PARACHUTE_LANDED);
return; return;
} }
@ -243,7 +243,7 @@ void Copter::parachute_manual_release()
// warn user of reason for failure // warn user of reason for failure
gcs().send_text(MAV_SEVERITY_ALERT,"Parachute: Too low"); gcs().send_text(MAV_SEVERITY_ALERT,"Parachute: Too low");
// log an error in the dataflash // log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_TOO_LOW); AP::logger().Write_Error(LogErrorSubsystem::PARACHUTES, LogErrorCode::PARACHUTE_TOO_LOW);
return; return;
} }

62
ArduCopter/defines.h
View File

@ -240,7 +240,6 @@ enum LoggingParameters {
TYPE_AIRSTART_MSG, TYPE_AIRSTART_MSG,
TYPE_GROUNDSTART_MSG, TYPE_GROUNDSTART_MSG,
LOG_CONTROL_TUNING_MSG, LOG_CONTROL_TUNING_MSG,
LOG_ERROR_MSG,
LOG_DATA_INT16_MSG, LOG_DATA_INT16_MSG,
LOG_DATA_UINT16_MSG, LOG_DATA_UINT16_MSG,
LOG_DATA_INT32_MSG, LOG_DATA_INT32_MSG,
@ -274,67 +273,6 @@ enum LoggingParameters {
#define MASK_LOG_IMU_RAW (1UL<<19) #define MASK_LOG_IMU_RAW (1UL<<19)
#define MASK_LOG_ANY 0xFFFF #define MASK_LOG_ANY 0xFFFF
// Error message sub systems and error codes
#define ERROR_SUBSYSTEM_MAIN 1
#define ERROR_SUBSYSTEM_RADIO 2
#define ERROR_SUBSYSTEM_COMPASS 3
#define ERROR_SUBSYSTEM_OPTFLOW 4 // not used
#define ERROR_SUBSYSTEM_FAILSAFE_RADIO 5
#define ERROR_SUBSYSTEM_FAILSAFE_BATT 6
#define ERROR_SUBSYSTEM_FAILSAFE_GPS 7 // not used
#define ERROR_SUBSYSTEM_FAILSAFE_GCS 8
#define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9
#define ERROR_SUBSYSTEM_FLIGHT_MODE 10
#define ERROR_SUBSYSTEM_GPS 11
#define ERROR_SUBSYSTEM_CRASH_CHECK 12
#define ERROR_SUBSYSTEM_FLIP 13
#define ERROR_SUBSYSTEM_AUTOTUNE 14 // not used
#define ERROR_SUBSYSTEM_PARACHUTE 15
#define ERROR_SUBSYSTEM_EKFCHECK 16
#define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV 17
#define ERROR_SUBSYSTEM_BARO 18
#define ERROR_SUBSYSTEM_CPU 19
#define ERROR_SUBSYSTEM_FAILSAFE_ADSB 20
#define ERROR_SUBSYSTEM_TERRAIN 21
#define ERROR_SUBSYSTEM_NAVIGATION 22
#define ERROR_SUBSYSTEM_FAILSAFE_TERRAIN 23
#define ERROR_SUBSYSTEM_EKF_PRIMARY 24
#define ERROR_SUBSYSTEM_THRUST_LOSS_CHECK 25
// general error codes
#define ERROR_CODE_ERROR_RESOLVED 0
#define ERROR_CODE_FAILED_TO_INITIALISE 1
#define ERROR_CODE_UNHEALTHY 4
// subsystem specific error codes -- radio
#define ERROR_CODE_RADIO_LATE_FRAME 2
// subsystem specific error codes -- failsafe_thr, batt, gps
#define ERROR_CODE_FAILSAFE_RESOLVED 0
#define ERROR_CODE_FAILSAFE_OCCURRED 1
// subsystem specific error codes -- main
#define ERROR_CODE_MAIN_INS_DELAY 1
// subsystem specific error codes -- crash checker
#define ERROR_CODE_CRASH_CHECK_CRASH 1
#define ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL 2
// subsystem specific error codes -- flip
#define ERROR_CODE_FLIP_ABANDONED 2
// subsystem specific error codes -- terrain
#define ERROR_CODE_MISSING_TERRAIN_DATA 2
// subsystem specific error codes -- navigation
#define ERROR_CODE_FAILED_TO_SET_DESTINATION 2
#define ERROR_CODE_RESTARTED_RTL 3
#define ERROR_CODE_FAILED_CIRCLE_INIT 4
#define ERROR_CODE_DEST_OUTSIDE_FENCE 5
// parachute failed to deploy because of low altitude or landed
#define ERROR_CODE_PARACHUTE_TOO_LOW 2
#define ERROR_CODE_PARACHUTE_LANDED 3
// EKF check definitions
#define ERROR_CODE_EKFCHECK_BAD_VARIANCE 2
#define ERROR_CODE_EKFCHECK_VARIANCE_CLEARED 0
// Baro specific error codes
#define ERROR_CODE_BARO_GLITCH 2
// GPS specific error coces
#define ERROR_CODE_GPS_GLITCH 2
// Radio failsafe definitions (FS_THR parameter) // Radio failsafe definitions (FS_THR parameter)
#define FS_THR_DISABLED 0 #define FS_THR_DISABLED 0
#define FS_THR_ENABLED_ALWAYS_RTL 1 #define FS_THR_ENABLED_ALWAYS_RTL 1

10
ArduCopter/ekf_check.cpp
View File

@ -55,7 +55,7 @@ void Copter::ekf_check()
ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX; ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX;
ekf_check_state.bad_variance = true; ekf_check_state.bad_variance = true;
// log an error in the dataflash // log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_EKFCHECK_BAD_VARIANCE); AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE);
// send message to gcs // send message to gcs
if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) { if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF variance"); gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF variance");
@ -73,7 +73,7 @@ void Copter::ekf_check()
if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) { if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
ekf_check_state.bad_variance = false; ekf_check_state.bad_variance = false;
// log recovery in the dataflash // log recovery in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_EKFCHECK_VARIANCE_CLEARED); AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
// clear failsafe // clear failsafe
failsafe_ekf_off_event(); failsafe_ekf_off_event();
} }
@ -136,7 +136,7 @@ void Copter::failsafe_ekf_event()
// EKF failsafe event has occurred // EKF failsafe event has occurred
failsafe.ekf = true; failsafe.ekf = true;
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_EKFINAV, ERROR_CODE_FAILSAFE_OCCURRED); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
// sometimes LAND *does* require GPS so ensure we are in non-GPS land // sometimes LAND *does* require GPS so ensure we are in non-GPS land
if (control_mode == LAND && landing_with_GPS()) { if (control_mode == LAND && landing_with_GPS()) {
@ -175,7 +175,7 @@ void Copter::failsafe_ekf_off_event(void)
// clear flag and log recovery // clear flag and log recovery
failsafe.ekf = false; failsafe.ekf = false;
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_EKFINAV, ERROR_CODE_FAILSAFE_RESOLVED); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED);
} }
// check for ekf yaw reset and adjust target heading, also log position reset // check for ekf yaw reset and adjust target heading, also log position reset
@ -195,7 +195,7 @@ void Copter::check_ekf_reset()
if ((EKF2.getPrimaryCoreIndex() != ekf_primary_core) && (EKF2.getPrimaryCoreIndex() != -1)) { if ((EKF2.getPrimaryCoreIndex() != ekf_primary_core) && (EKF2.getPrimaryCoreIndex() != -1)) {
attitude_control->inertial_frame_reset(); attitude_control->inertial_frame_reset();
ekf_primary_core = EKF2.getPrimaryCoreIndex(); ekf_primary_core = EKF2.getPrimaryCoreIndex();
Log_Write_Error(ERROR_SUBSYSTEM_EKF_PRIMARY, ekf_primary_core); AP::logger().Write_Error(LogErrorSubsystem::EKF_PRIMARY, LogErrorCode(ekf_primary_core));
gcs().send_text(MAV_SEVERITY_WARNING, "EKF primary changed:%d", (unsigned)ekf_primary_core); gcs().send_text(MAV_SEVERITY_WARNING, "EKF primary changed:%d", (unsigned)ekf_primary_core);
} }
#endif #endif

18
ArduCopter/events.cpp
View File

@ -36,7 +36,7 @@ void Copter::failsafe_radio_on_event()
} }
// log the error to the dataflash // log the error to the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_OCCURRED); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_OCCURRED);
} }
@ -47,12 +47,12 @@ void Copter::failsafe_radio_off_event()
{ {
// no need to do anything except log the error as resolved // no need to do anything except log the error as resolved
// user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode // user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_RESOLVED); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_RESOLVED);
} }
void Copter::handle_battery_failsafe(const char *type_str, const int8_t action) void Copter::handle_battery_failsafe(const char *type_str, const int8_t action)
{ {
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_BATT, LogErrorCode::FAILSAFE_OCCURRED);
// failsafe check // failsafe check
if (should_disarm_on_failsafe()) { if (should_disarm_on_failsafe()) {
@ -118,7 +118,7 @@ void Copter::failsafe_gcs_check()
// GCS failsafe event has occurred // GCS failsafe event has occurred
// update state, log to dataflash // update state, log to dataflash
set_failsafe_gcs(true); set_failsafe_gcs(true);
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_GCS, ERROR_CODE_FAILSAFE_OCCURRED); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_OCCURRED);
// clear overrides so that RC control can be regained with radio. // clear overrides so that RC control can be regained with radio.
RC_Channels::clear_overrides(); RC_Channels::clear_overrides();
@ -142,7 +142,7 @@ void Copter::failsafe_gcs_check()
void Copter::failsafe_gcs_off_event(void) void Copter::failsafe_gcs_off_event(void)
{ {
// log recovery of GCS in logs? // log recovery of GCS in logs?
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_GCS, ERROR_CODE_FAILSAFE_RESOLVED); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_RESOLVED);
} }
// executes terrain failsafe if data is missing for longer than a few seconds // executes terrain failsafe if data is missing for longer than a few seconds
@ -159,7 +159,7 @@ void Copter::failsafe_terrain_check()
if (trigger_event) { if (trigger_event) {
failsafe_terrain_on_event(); failsafe_terrain_on_event();
} else { } else {
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_ERROR_RESOLVED); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::ERROR_RESOLVED);
failsafe.terrain = false; failsafe.terrain = false;
} }
} }
@ -190,7 +190,7 @@ void Copter::failsafe_terrain_on_event()
{ {
failsafe.terrain = true; failsafe.terrain = true;
gcs().send_text(MAV_SEVERITY_CRITICAL,"Failsafe: Terrain data missing"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Failsafe: Terrain data missing");
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_FAILSAFE_OCCURRED); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::FAILSAFE_OCCURRED);
if (should_disarm_on_failsafe()) { if (should_disarm_on_failsafe()) {
init_disarm_motors(); init_disarm_motors();
@ -214,10 +214,10 @@ void Copter::gpsglitch_check()
if (ap.gps_glitching != gps_glitching) { if (ap.gps_glitching != gps_glitching) {
ap.gps_glitching = gps_glitching; ap.gps_glitching = gps_glitching;
if (gps_glitching) { if (gps_glitching) {
Log_Write_Error(ERROR_SUBSYSTEM_GPS, ERROR_CODE_GPS_GLITCH); AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::GPS_GLITCH);
gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch"); gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch");
} else { } else {
Log_Write_Error(ERROR_SUBSYSTEM_GPS, ERROR_CODE_ERROR_RESOLVED); AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::ERROR_RESOLVED);
gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch cleared"); gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch cleared");
} }
} }

4
ArduCopter/failsafe.cpp
View File

@ -43,7 +43,7 @@ void Copter::failsafe_check()
failsafe_last_timestamp = tnow; failsafe_last_timestamp = tnow;
if (in_failsafe) { if (in_failsafe) {
in_failsafe = false; in_failsafe = false;
Log_Write_Error(ERROR_SUBSYSTEM_CPU,ERROR_CODE_FAILSAFE_RESOLVED); AP::logger().Write_Error(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_RESOLVED);
} }
return; return;
} }
@ -58,7 +58,7 @@ void Copter::failsafe_check()
motors->output_min(); motors->output_min();
} }
// log an error // log an error
Log_Write_Error(ERROR_SUBSYSTEM_CPU,ERROR_CODE_FAILSAFE_OCCURRED); AP::logger().Write_Error(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_OCCURRED);
} }
if (failsafe_enabled && in_failsafe && tnow - failsafe_last_timestamp > 1000000) { if (failsafe_enabled && in_failsafe && tnow - failsafe_last_timestamp > 1000000) {

4
ArduCopter/fence.cpp
View File

@ -70,11 +70,11 @@ void Copter::fence_check()
} }
// log an error in the dataflash // log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, new_breaches); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
} else if (orig_breaches) { } else if (orig_breaches) {
// record clearing of breach // record clearing of breach
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
} }
} }

8
ArduCopter/mode.cpp
View File

@ -184,7 +184,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
Copter::Mode *new_flightmode = mode_from_mode_num(mode); Copter::Mode *new_flightmode = mode_from_mode_num(mode);
if (new_flightmode == nullptr) { if (new_flightmode == nullptr) {
gcs().send_text(MAV_SEVERITY_WARNING,"No such mode"); gcs().send_text(MAV_SEVERITY_WARNING,"No such mode");
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode); AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
return false; return false;
} }
@ -195,7 +195,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
// rotor runup is not complete // rotor runup is not complete
if (!ignore_checks && !new_flightmode->has_manual_throttle() && !motors->rotor_runup_complete()){ if (!ignore_checks && !new_flightmode->has_manual_throttle() && !motors->rotor_runup_complete()){
gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed"); gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed");
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode); AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
return false; return false;
} }
#endif #endif
@ -220,13 +220,13 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
new_flightmode->requires_GPS() && new_flightmode->requires_GPS() &&
!copter.position_ok()) { !copter.position_ok()) {
gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: %s requires position", new_flightmode->name()); gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: %s requires position", new_flightmode->name());
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode); AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
return false; return false;
} }
if (!new_flightmode->init(ignore_checks)) { if (!new_flightmode->init(ignore_checks)) {
gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed"); gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed");
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode); AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
return false; return false;
} }

4
ArduCopter/mode_auto.cpp
View File

@ -151,7 +151,7 @@ void Copter::ModeAuto::takeoff_start(const Location& dest_loc)
int32_t alt_target; int32_t alt_target;
if (!dest.get_alt_cm(Location::AltFrame::ABOVE_HOME, alt_target)) { if (!dest.get_alt_cm(Location::AltFrame::ABOVE_HOME, alt_target)) {
// this failure could only happen if take-off alt was specified as an alt-above terrain and we have no terrain data // this failure could only happen if take-off alt was specified as an alt-above terrain and we have no terrain data
copter.Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA); AP::logger().Write_Error(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
// fall back to altitude above current altitude // fall back to altitude above current altitude
alt_target = copter.current_loc.alt + dest.alt; alt_target = copter.current_loc.alt + dest.alt;
} }
@ -254,7 +254,7 @@ void Copter::ModeAuto::circle_movetoedge_start(const Location &circle_center, fl
if (!circle_center.get_vector_from_origin_NEU(circle_center_neu)) { if (!circle_center.get_vector_from_origin_NEU(circle_center_neu)) {
// default to current position and log error // default to current position and log error
circle_center_neu = inertial_nav.get_position(); circle_center_neu = inertial_nav.get_position();
copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_CIRCLE_INIT); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_CIRCLE_INIT);
} }
copter.circle_nav->set_center(circle_center_neu); copter.circle_nav->set_center(circle_center_neu);

2
ArduCopter/mode_flip.cpp
View File

@ -205,7 +205,7 @@ void Copter::ModeFlip::run()
copter.set_mode(STABILIZE, MODE_REASON_UNKNOWN); copter.set_mode(STABILIZE, MODE_REASON_UNKNOWN);
} }
// log abandoning flip // log abandoning flip
copter.Log_Write_Error(ERROR_SUBSYSTEM_FLIP,ERROR_CODE_FLIP_ABANDONED); AP::logger().Write_Error(LogErrorSubsystem::FLIP, LogErrorCode::FLIP_ABANDONED);
break; break;
} }

10
ArduCopter/mode_guided.cpp
View File

@ -57,7 +57,7 @@ bool Copter::ModeGuided::do_user_takeoff_start(float final_alt_above_home)
if (!wp_nav->set_wp_destination(target_loc)) { if (!wp_nav->set_wp_destination(target_loc)) {
// failure to set destination can only be because of missing terrain data // failure to set destination can only be because of missing terrain data
copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_TO_SET_DESTINATION); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
// failure is propagated to GCS with NAK // failure is propagated to GCS with NAK
return false; return false;
} }
@ -187,7 +187,7 @@ bool Copter::ModeGuided::set_destination(const Vector3f& destination, bool use_y
// reject destination if outside the fence // reject destination if outside the fence
const Location dest_loc(destination); const Location dest_loc(destination);
if (!copter.fence.check_destination_within_fence(dest_loc)) { if (!copter.fence.check_destination_within_fence(dest_loc)) {
copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_DEST_OUTSIDE_FENCE); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK // failure is propagated to GCS with NAK
return false; return false;
} }
@ -226,7 +226,7 @@ bool Copter::ModeGuided::set_destination(const Location& dest_loc, bool use_yaw,
// reject destination outside the fence. // reject destination outside the fence.
// Note: there is a danger that a target specified as a terrain altitude might not be checked if the conversion to alt-above-home fails // Note: there is a danger that a target specified as a terrain altitude might not be checked if the conversion to alt-above-home fails
if (!copter.fence.check_destination_within_fence(dest_loc)) { if (!copter.fence.check_destination_within_fence(dest_loc)) {
copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_DEST_OUTSIDE_FENCE); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK // failure is propagated to GCS with NAK
return false; return false;
} }
@ -234,7 +234,7 @@ bool Copter::ModeGuided::set_destination(const Location& dest_loc, bool use_yaw,
if (!wp_nav->set_wp_destination(dest_loc)) { if (!wp_nav->set_wp_destination(dest_loc)) {
// failure to set destination can only be because of missing terrain data // failure to set destination can only be because of missing terrain data
copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_TO_SET_DESTINATION); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
// failure is propagated to GCS with NAK // failure is propagated to GCS with NAK
return false; return false;
} }
@ -280,7 +280,7 @@ bool Copter::ModeGuided::set_destination_posvel(const Vector3f& destination, con
// reject destination if outside the fence // reject destination if outside the fence
const Location dest_loc(destination); const Location dest_loc(destination);
if (!copter.fence.check_destination_within_fence(dest_loc)) { if (!copter.fence.check_destination_within_fence(dest_loc)) {
copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_DEST_OUTSIDE_FENCE); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK // failure is propagated to GCS with NAK
return false; return false;
} }

6
ArduCopter/mode_rtl.cpp
View File

@ -23,7 +23,7 @@ bool Copter::ModeRTL::init(bool ignore_checks)
void Copter::ModeRTL::restart_without_terrain() void Copter::ModeRTL::restart_without_terrain()
{ {
// log an error // log an error
copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_RESTARTED_RTL); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::RESTARTED_RTL);
if (rtl_path.terrain_used) { if (rtl_path.terrain_used) {
build_path(false); build_path(false);
climb_start(); climb_start();
@ -99,7 +99,7 @@ void Copter::ModeRTL::climb_start()
// set the destination // set the destination
if (!wp_nav->set_wp_destination(rtl_path.climb_target)) { if (!wp_nav->set_wp_destination(rtl_path.climb_target)) {
// this should not happen because rtl_build_path will have checked terrain data was available // this should not happen because rtl_build_path will have checked terrain data was available
copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_TO_SET_DESTINATION); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
copter.set_mode(LAND, MODE_REASON_TERRAIN_FAILSAFE); copter.set_mode(LAND, MODE_REASON_TERRAIN_FAILSAFE);
return; return;
} }
@ -432,7 +432,7 @@ void Copter::ModeRTL::compute_return_target(bool terrain_following_allowed)
!rtl_path.return_target.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, return_target_terr_alt) || !rtl_path.return_target.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, return_target_terr_alt) ||
!copter.current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, curr_alt)) { !copter.current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, curr_alt)) {
rtl_path.terrain_used = false; rtl_path.terrain_used = false;
copter.Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA); AP::logger().Write_Error(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
} }
} }

2
ArduCopter/radio.cpp
View File

@ -136,7 +136,7 @@ void Copter::read_radio()
} }
// Nobody ever talks to us. Log an error and enter failsafe. // Nobody ever talks to us. Log an error and enter failsafe.
Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME); AP::logger().Write_Error(LogErrorSubsystem::RADIO, LogErrorCode::RADIO_LATE_FRAME);
set_failsafe_radio(true); set_failsafe_radio(true);
} }

2
ArduCopter/sensors.cpp
View File

@ -96,7 +96,7 @@ void Copter::init_compass()
if (!compass.read()) { if (!compass.read()) {
// make sure we don't pass a broken compass to DCM // make sure we don't pass a broken compass to DCM
hal.console->printf("COMPASS INIT ERROR\n"); hal.console->printf("COMPASS INIT ERROR\n");
Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE); AP::logger().Write_Error(LogErrorSubsystem::COMPASS, LogErrorCode::FAILED_TO_INITIALISE);
return; return;
} }
ahrs.set_compass(&compass); ahrs.set_compass(&compass);