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ArduPlane: clarify and simplify RC failsafe messages

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This commit is contained in:
Henry Wurzburg 2022-02-26 07:40:12 -06:00 committed by Andrew Tridgell
parent f10f3da159
commit c8bc0b7e0d
2 changed files with 17 additions and 7 deletions
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20
ArduPlane/events.cpp
View File

@ -21,7 +21,7 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
failsafe.state = fstype; failsafe.state = fstype;
failsafe.short_timer_ms = millis(); failsafe.short_timer_ms = millis();
failsafe.saved_mode_number = control_mode->mode_number(); failsafe.saved_mode_number = control_mode->mode_number();
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event on: type=%u/reason=%u", fstype, static_cast<unsigned>(reason)); gcs().send_text(MAV_SEVERITY_WARNING, "RC Short Failsafe On");
switch (control_mode->mode_number()) switch (control_mode->mode_number())
{ {
case Mode::Number::MANUAL: case Mode::Number::MANUAL:
@ -102,7 +102,12 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason) void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason)
{ {
// This is how to handle a long loss of control signal failsafe. // This is how to handle a long loss of control signal failsafe.
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event on: type=%u/reason=%u", fstype, static_cast<unsigned>(reason)); if (reason == ModeReason:: GCS_FAILSAFE) {
gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe On");
}
else {
gcs().send_text(MAV_SEVERITY_WARNING, "RC Long Failsafe On");
}
// If the GCS is locked up we allow control to revert to RC // If the GCS is locked up we allow control to revert to RC
RC_Channels::clear_overrides(); RC_Channels::clear_overrides();
failsafe.state = fstype; failsafe.state = fstype;
@ -186,7 +191,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
void Plane::failsafe_short_off_event(ModeReason reason) void Plane::failsafe_short_off_event(ModeReason reason)
{ {
// We're back in radio contact // We're back in radio contact
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event off: reason=%u", static_cast<unsigned>(reason)); gcs().send_text(MAV_SEVERITY_WARNING, "Short Failsafe Cleared");
failsafe.state = FAILSAFE_NONE; failsafe.state = FAILSAFE_NONE;
//restore entry mode if desired but check that our current mode is still due to failsafe //restore entry mode if desired but check that our current mode is still due to failsafe
if ( _last_reason == ModeReason::RADIO_FAILSAFE) { if ( _last_reason == ModeReason::RADIO_FAILSAFE) {
@ -197,8 +202,13 @@ void Plane::failsafe_short_off_event(ModeReason reason)
void Plane::failsafe_long_off_event(ModeReason reason) void Plane::failsafe_long_off_event(ModeReason reason)
{ {
// We're back in radio contact // We're back in radio contact with RC or GCS
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event off: reason=%u", static_cast<unsigned>(reason)); if (reason == ModeReason:: GCS_FAILSAFE) {
gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe Off");
}
else {
gcs().send_text(MAV_SEVERITY_WARNING, "RC Long Failsafe Cleared");
}
failsafe.state = FAILSAFE_NONE; failsafe.state = FAILSAFE_NONE;
} }

4
ArduPlane/radio.cpp
View File

@ -280,7 +280,7 @@ void Plane::control_failsafe()
// throttle has dropped below the mark // throttle has dropped below the mark
failsafe.throttle_counter++; failsafe.throttle_counter++;
if (failsafe.throttle_counter == 10) { if (failsafe.throttle_counter == 10) {
gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe on"); gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe %s", "on");
failsafe.rc_failsafe = true; failsafe.rc_failsafe = true;
AP_Notify::flags.failsafe_radio = true; AP_Notify::flags.failsafe_radio = true;
} }
@ -295,7 +295,7 @@ void Plane::control_failsafe()
failsafe.throttle_counter = 3; failsafe.throttle_counter = 3;
} }
if (failsafe.throttle_counter == 1) { if (failsafe.throttle_counter == 1) {
gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe off"); gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe %s", "off");
} else if(failsafe.throttle_counter == 0) { } else if(failsafe.throttle_counter == 0) {
failsafe.rc_failsafe = false; failsafe.rc_failsafe = false;
AP_Notify::flags.failsafe_radio = false; AP_Notify::flags.failsafe_radio = false;