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Copter: use send_text method on the GCS singleton

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This commit is contained in:
Peter Barker 2017-07-09 10:56:49 +10:00 committed by Tom Pittenger
parent 2039222c7e
commit f60389d4aa
20 changed files with 101 additions and 130 deletions
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113
ArduCopter/AP_Arming.cpp
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@ -43,7 +43,7 @@ bool AP_Arming_Copter::pre_arm_checks(bool display_failure)
// at the same time. This cannot be allowed. // at the same time. This cannot be allowed.
if (copter.check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK) && copter.check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){ if (copter.check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK) && copter.check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Interlock/E-Stop Conflict"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Interlock/E-Stop Conflict");
} }
return false; return false;
} }
@ -54,7 +54,7 @@ bool AP_Arming_Copter::pre_arm_checks(bool display_failure)
// as state can change at any time. // as state can change at any time.
if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) { if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Motor Interlock Enabled"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Motor Interlock Enabled");
} }
return false; return false;
} }
@ -101,7 +101,7 @@ bool AP_Arming_Copter::barometer_checks(bool display_failure)
// barometer health check // barometer health check
if (!barometer.all_healthy()) { if (!barometer.all_healthy()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Barometer not healthy"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Barometer not healthy");
} }
return false; return false;
} }
@ -113,7 +113,7 @@ bool AP_Arming_Copter::barometer_checks(bool display_failure)
if (using_baro_ref) { if (using_baro_ref) {
if (fabsf(_inav.get_altitude() - copter.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) { if (fabsf(_inav.get_altitude() - copter.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Altitude disparity"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Altitude disparity");
} }
return false; return false;
} }
@ -131,7 +131,7 @@ bool AP_Arming_Copter::compass_checks(bool display_failure)
// this if learning is off; Copter *always* checks. // this if learning is off; Copter *always* checks.
if (!_compass.configured()) { if (!_compass.configured()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not calibrated"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not calibrated");
} }
ret = false; ret = false;
} }
@ -173,7 +173,7 @@ bool AP_Arming_Copter::ins_checks(bool display_failure)
// get ekf attitude (if bad, it's usually the gyro biases) // get ekf attitude (if bad, it's usually the gyro biases)
if (!pre_arm_ekf_attitude_check()) { if (!pre_arm_ekf_attitude_check()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: gyros still settling"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: gyros still settling");
} }
ret = false; ret = false;
} }
@ -189,7 +189,7 @@ bool AP_Arming_Copter::board_voltage_checks(bool display_failure)
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) { if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) {
if (hal.analogin->board_voltage() < BOARD_VOLTAGE_MIN || hal.analogin->board_voltage() > BOARD_VOLTAGE_MAX) { if (hal.analogin->board_voltage() < BOARD_VOLTAGE_MIN || hal.analogin->board_voltage() > BOARD_VOLTAGE_MAX) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Board Voltage"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Board Voltage");
} }
return false; return false;
} }
@ -202,7 +202,7 @@ bool AP_Arming_Copter::board_voltage_checks(bool display_failure)
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) { if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) {
if (copter.failsafe.battery || (!copter.ap.usb_connected && copter.battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) { if (copter.failsafe.battery || (!copter.ap.usb_connected && copter.battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Battery"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Battery");
} }
return false; return false;
} }
@ -219,7 +219,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
// ensure ch7 and ch8 have different functions // ensure ch7 and ch8 have different functions
if (copter.check_duplicate_auxsw()) { if (copter.check_duplicate_auxsw()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Duplicate Aux Switch Options"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Duplicate Aux Switch Options");
} }
return false; return false;
} }
@ -229,7 +229,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900 // check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900
if (copter.channel_throttle->get_radio_min() <= copter.g.failsafe_throttle_value+10 || copter.g.failsafe_throttle_value < 910) { if (copter.channel_throttle->get_radio_min() <= copter.g.failsafe_throttle_value+10 || copter.g.failsafe_throttle_value < 910) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check FS_THR_VALUE"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check FS_THR_VALUE");
} }
return false; return false;
} }
@ -238,7 +238,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
// lean angle parameter check // lean angle parameter check
if (copter.aparm.angle_max < 1000 || copter.aparm.angle_max > 8000) { if (copter.aparm.angle_max < 1000 || copter.aparm.angle_max > 8000) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check ANGLE_MAX"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check ANGLE_MAX");
} }
return false; return false;
} }
@ -246,7 +246,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
// acro balance parameter check // acro balance parameter check
if ((copter.g.acro_balance_roll > copter.attitude_control->get_angle_roll_p().kP()) || (copter.g.acro_balance_pitch > copter.attitude_control->get_angle_pitch_p().kP())) { if ((copter.g.acro_balance_roll > copter.attitude_control->get_angle_roll_p().kP()) || (copter.g.acro_balance_pitch > copter.attitude_control->get_angle_pitch_p().kP())) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: ACRO_BAL_ROLL/PITCH"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ACRO_BAL_ROLL/PITCH");
} }
return false; return false;
} }
@ -255,7 +255,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
// check range finder if optflow enabled // check range finder if optflow enabled
if (copter.optflow.enabled() && !copter.rangefinder.pre_arm_check()) { if (copter.optflow.enabled() && !copter.rangefinder.pre_arm_check()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check range finder"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: check range finder");
} }
return false; return false;
} }
@ -276,7 +276,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
// check adsb avoidance failsafe // check adsb avoidance failsafe
if (copter.failsafe.adsb) { if (copter.failsafe.adsb) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected");
} }
return false; return false;
} }
@ -296,7 +296,7 @@ bool AP_Arming_Copter::motor_checks(bool display_failure)
// check motors initialised correctly // check motors initialised correctly
if (!copter.motors->initialised_ok()) { if (!copter.motors->initialised_ok()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check firmware or FRAME_CLASS"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: check firmware or FRAME_CLASS");
} }
return false; return false;
} }
@ -311,9 +311,9 @@ bool AP_Arming_Copter::pilot_throttle_checks(bool display_failure)
if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) { if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) {
if (display_failure) { if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Collective below Failsafe"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Collective below Failsafe");
#else #else
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Throttle below Failsafe"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Throttle below Failsafe");
#endif #endif
} }
return false; return false;
@ -351,19 +351,19 @@ void AP_Arming_Copter::pre_arm_rc_checks(const bool display_failure)
// check if radio has been calibrated // check if radio has been calibrated
if (!channel->min_max_configured()) { if (!channel->min_max_configured()) {
if (display_failure) { if (display_failure) {
copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: RC %s not configured", channel_name); copter.gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: RC %s not configured", channel_name);
} }
return; return;
} }
if (channel->get_radio_min() > 1300) { if (channel->get_radio_min() > 1300) {
if (display_failure) { if (display_failure) {
copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s radio min too high", channel_name); copter.gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio min too high", channel_name);
} }
return; return;
} }
if (channel->get_radio_max() < 1700) { if (channel->get_radio_max() < 1700) {
if (display_failure) { if (display_failure) {
copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s radio max too low", channel_name); copter.gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio max too low", channel_name);
} }
return; return;
} }
@ -373,13 +373,13 @@ void AP_Arming_Copter::pre_arm_rc_checks(const bool display_failure)
} }
if (channel->get_radio_trim() < channel->get_radio_min()) { if (channel->get_radio_trim() < channel->get_radio_min()) {
if (display_failure) { if (display_failure) {
copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim below min", channel_name); copter.gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim below min", channel_name);
} }
return; return;
} }
if (channel->get_radio_trim() > channel->get_radio_max()) { if (channel->get_radio_trim() > channel->get_radio_max()) {
if (display_failure) { if (display_failure) {
copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim above max", channel_name); copter.gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim above max", channel_name);
} }
return; return;
} }
@ -395,7 +395,7 @@ bool AP_Arming_Copter::pre_arm_gps_checks(bool display_failure)
// always check if inertial nav has started and is ready // always check if inertial nav has started and is ready
if (!ahrs.healthy()) { if (!ahrs.healthy()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Nav Checks"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Nav Checks");
} }
return false; return false;
} }
@ -425,9 +425,9 @@ bool AP_Arming_Copter::pre_arm_gps_checks(bool display_failure)
} else { } else {
if (!mode_requires_gps && fence_requires_gps) { if (!mode_requires_gps && fence_requires_gps) {
// clarify to user why they need GPS in non-GPS flight mode // clarify to user why they need GPS in non-GPS flight mode
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Fence enabled, need 3D Fix"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Fence enabled, need 3D Fix");
} else { } else {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Need 3D Fix"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Need 3D Fix");
} }
} }
} }
@ -442,7 +442,7 @@ bool AP_Arming_Copter::pre_arm_gps_checks(bool display_failure)
_ahrs_navekf.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset); _ahrs_navekf.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset);
if (mag_variance.length() >= copter.g.fs_ekf_thresh) { if (mag_variance.length() >= copter.g.fs_ekf_thresh) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF compass variance"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF compass variance");
} }
return false; return false;
} }
@ -450,7 +450,7 @@ bool AP_Arming_Copter::pre_arm_gps_checks(bool display_failure)
// check home and EKF origin are not too far // check home and EKF origin are not too far
if (copter.far_from_EKF_origin(ahrs.get_home())) { if (copter.far_from_EKF_origin(ahrs.get_home())) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF-home variance"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF-home variance");
} }
AP_Notify::flags.pre_arm_gps_check = false; AP_Notify::flags.pre_arm_gps_check = false;
return false; return false;
@ -465,7 +465,7 @@ bool AP_Arming_Copter::pre_arm_gps_checks(bool display_failure)
// warn about hdop separately - to prevent user confusion with no gps lock // warn about hdop separately - to prevent user confusion with no gps lock
if (copter.gps.get_hdop() > copter.g.gps_hdop_good) { if (copter.gps.get_hdop() > copter.g.gps_hdop_good) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: High GPS HDOP"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: High GPS HDOP");
} }
AP_Notify::flags.pre_arm_gps_check = false; AP_Notify::flags.pre_arm_gps_check = false;
return false; return false;
@ -503,7 +503,7 @@ bool AP_Arming_Copter::pre_arm_terrain_check(bool display_failure)
// To-Do: modify RTL return path to fly at or above the RTL_ALT and remove this check // To-Do: modify RTL return path to fly at or above the RTL_ALT and remove this check
if (copter.rangefinder_state.enabled && (copter.g.rtl_altitude > copter.rangefinder.max_distance_cm_orient(ROTATION_PITCH_270))) { if (copter.rangefinder_state.enabled && (copter.g.rtl_altitude > copter.rangefinder.max_distance_cm_orient(ROTATION_PITCH_270))) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: RTL_ALT above rangefinder max range"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: RTL_ALT above rangefinder max range");
return false; return false;
} }
@ -512,7 +512,7 @@ bool AP_Arming_Copter::pre_arm_terrain_check(bool display_failure)
copter.terrain.get_statistics(terr_pending, terr_loaded); copter.terrain.get_statistics(terr_pending, terr_loaded);
bool have_all_data = (terr_pending <= 0); bool have_all_data = (terr_pending <= 0);
if (!have_all_data && display_failure) { if (!have_all_data && display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Terrain data"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Terrain data");
} }
return have_all_data; return have_all_data;
#else #else
@ -533,7 +533,7 @@ bool AP_Arming_Copter::pre_arm_proximity_check(bool display_failure)
// return false if proximity sensor unhealthy // return false if proximity sensor unhealthy
if (copter.g2.proximity.get_status() < AP_Proximity::Proximity_Good) { if (copter.g2.proximity.get_status() < AP_Proximity::Proximity_Good) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check proximity sensor"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: check proximity sensor");
} }
return false; return false;
} }
@ -573,27 +573,27 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
//check if accelerometers have calibrated and require reboot //check if accelerometers have calibrated and require reboot
if (_ins.accel_cal_requires_reboot()) { if (_ins.accel_cal_requires_reboot()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accels calibrated requires reboot"); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accels calibrated requires reboot");
} }
return false; return false;
} }
if (!_ins.get_accel_health_all()) { if (!_ins.get_accel_health_all()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Accels not healthy"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Accels not healthy");
} }
return false; return false;
} }
if (!_ins.get_gyro_health_all()) { if (!_ins.get_gyro_health_all()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Gyros not healthy"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Gyros not healthy");
} }
return false; return false;
} }
// get ekf attitude (if bad, it's usually the gyro biases) // get ekf attitude (if bad, it's usually the gyro biases)
if (!pre_arm_ekf_attitude_check()) { if (!pre_arm_ekf_attitude_check()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: gyros still settling"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: gyros still settling");
} }
return false; return false;
} }
@ -602,7 +602,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// always check if inertial nav has started and is ready // always check if inertial nav has started and is ready
if (!ahrs.healthy()) { if (!ahrs.healthy()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Waiting for Nav Checks"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Waiting for Nav Checks");
} }
return false; return false;
} }
@ -610,14 +610,14 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// check compass health // check compass health
if (!_compass.healthy()) { if (!_compass.healthy()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass not healthy"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass not healthy");
} }
return false; return false;
} }
if (_compass.is_calibrating()) { if (_compass.is_calibrating()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass calibration running"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass calibration running");
} }
return false; return false;
} }
@ -625,7 +625,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
//check if compass has calibrated and requires reboot //check if compass has calibrated and requires reboot
if (_compass.compass_cal_requires_reboot()) { if (_compass.compass_cal_requires_reboot()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot"); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot");
} }
return false; return false;
} }
@ -635,7 +635,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// always check if the current mode allows arming // always check if the current mode allows arming
if (!copter.mode_allows_arming(control_mode, arming_from_gcs)) { if (!copter.mode_allows_arming(control_mode, arming_from_gcs)) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Mode not armable"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Mode not armable");
} }
return false; return false;
} }
@ -653,7 +653,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// if we are using motor interlock switch and it's enabled, fail to arm // if we are using motor interlock switch and it's enabled, fail to arm
// skip check in Throw mode which takes control of the motor interlock // skip check in Throw mode which takes control of the motor interlock
if (copter.ap.using_interlock && copter.motors->get_interlock()) { if (copter.ap.using_interlock && copter.motors->get_interlock()) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Interlock Enabled"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Interlock Enabled");
return false; return false;
} }
@ -663,7 +663,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
copter.set_motor_emergency_stop(false); copter.set_motor_emergency_stop(false);
// if we are using motor Estop switch, it must not be in Estop position // if we are using motor Estop switch, it must not be in Estop position
} else if (copter.check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && copter.ap.motor_emergency_stop){ } else if (copter.check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && copter.ap.motor_emergency_stop){
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped");
return false; return false;
} }
@ -677,7 +677,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// baro health check // baro health check
if (!barometer.all_healthy()) { if (!barometer.all_healthy()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Barometer not healthy"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Barometer not healthy");
} }
return false; return false;
} }
@ -688,7 +688,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs); bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
if (using_baro_ref && (fabsf(_inav.get_altitude() - copter.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM)) { if (using_baro_ref && (fabsf(_inav.get_altitude() - copter.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM)) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Altitude disparity"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Altitude disparity");
} }
return false; return false;
} }
@ -709,7 +709,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_INS)) { if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_INS)) {
if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > copter.aparm.angle_max) { if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > copter.aparm.angle_max) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Leaning"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Leaning");
} }
return false; return false;
} }
@ -719,7 +719,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) { if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) {
if (copter.failsafe.battery || (!copter.ap.usb_connected && copter.battery.exhausted(copter.g.fs_batt_voltage, copter.g.fs_batt_mah))) { if (copter.failsafe.battery || (!copter.ap.usb_connected && copter.battery.exhausted(copter.g.fs_batt_voltage, copter.g.fs_batt_mah))) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Check Battery"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Check Battery");
} }
return false; return false;
} }
@ -736,7 +736,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) { if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) {
if (copter.failsafe.adsb) { if (copter.failsafe.adsb) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: ADSB threat detected"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: ADSB threat detected");
} }
return false; return false;
} }
@ -748,9 +748,9 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) { if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) {
if (display_failure) { if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective below Failsafe"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective below Failsafe");
#else #else
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle below Failsafe"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle below Failsafe");
#endif #endif
} }
return false; return false;
@ -762,9 +762,9 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) { if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) {
if (display_failure) { if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high");
#else #else
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high");
#endif #endif
} }
return false; return false;
@ -773,9 +773,9 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
if ((copter.mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && copter.channel_throttle->get_control_in() > 0) { if ((copter.mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && copter.channel_throttle->get_control_in() > 0) {
if (display_failure) { if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high");
#else #else
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high");
#endif #endif
} }
return false; return false;
@ -786,7 +786,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// check if safety switch has been pushed // check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) { if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Safety Switch"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Safety Switch");
} }
return false; return false;
} }
@ -814,8 +814,3 @@ void AP_Arming_Copter::set_pre_arm_rc_check(bool b)
copter.ap.pre_arm_rc_check = b; copter.ap.pre_arm_rc_check = b;
} }
} }
void AP_Arming_Copter::gcs_send_text(MAV_SEVERITY severity, const char *str)
{
copter.gcs_send_text(severity, str);
}

2
ArduCopter/AP_Arming.h
View File

@ -49,8 +49,6 @@ protected:
private: private:
void gcs_send_text(MAV_SEVERITY severity, const char *str);
const AP_InertialNav_NavEKF &_inav; const AP_InertialNav_NavEKF &_inav;
const AP_InertialSensor &_ins; const AP_InertialSensor &_ins;
const AP_AHRS_NavEKF &_ahrs_navekf; const AP_AHRS_NavEKF &_ahrs_navekf;

2
ArduCopter/ArduCopter.cpp
View File

@ -192,7 +192,7 @@ void Copter::perf_update(void)
if (should_log(MASK_LOG_PM)) if (should_log(MASK_LOG_PM))
Log_Write_Performance(); Log_Write_Performance();
if (scheduler.debug()) { if (scheduler.debug()) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "PERF: %u/%u %lu %lu", gcs().send_text(MAV_SEVERITY_WARNING, "PERF: %u/%u %lu %lu",
(unsigned)perf_info_get_num_long_running(), (unsigned)perf_info_get_num_long_running(),
(unsigned)perf_info_get_num_loops(), (unsigned)perf_info_get_num_loops(),
(unsigned long)perf_info_get_max_time(), (unsigned long)perf_info_get_max_time(),

2
ArduCopter/Copter.h
View File

@ -722,7 +722,6 @@ private:
void gcs_send_mission_item_reached_message(uint16_t mission_index); void gcs_send_mission_item_reached_message(uint16_t mission_index);
void gcs_data_stream_send(void); void gcs_data_stream_send(void);
void gcs_check_input(void); void gcs_check_input(void);
void gcs_send_text(MAV_SEVERITY severity, const char *str);
void do_erase_logs(void); void do_erase_logs(void);
void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt); void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt);
void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds); void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds);
@ -1106,7 +1105,6 @@ private:
void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate); void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate);
void print_hit_enter(); void print_hit_enter();
void tuning(); void tuning();
void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
bool start_command(const AP_Mission::Mission_Command& cmd); bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd); bool verify_command(const AP_Mission::Mission_Command& cmd);
bool verify_command_callback(const AP_Mission::Mission_Command& cmd); bool verify_command_callback(const AP_Mission::Mission_Command& cmd);

22
ArduCopter/GCS_Mavlink.cpp
View File

@ -2038,7 +2038,7 @@ void Copter::mavlink_delay_cb()
} }
if (tnow - last_5s > 5000) { if (tnow - last_5s > 5000) {
last_5s = tnow; last_5s = tnow;
gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM"); gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
} }
check_usb_mux(); check_usb_mux();
@ -2078,26 +2078,6 @@ void Copter::gcs_check_input(void)
gcs().update(); gcs().update();
} }
void Copter::gcs_send_text(MAV_SEVERITY severity, const char *str)
{
gcs().send_statustext(severity, 0xFF, str);
}
/*
* send a low priority formatted message to the GCS
* only one fits in the queue, so if you send more than one before the
* last one gets into the serial buffer then the old one will be lost
*/
void Copter::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
{
char str[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] {};
va_list arg_list;
va_start(arg_list, fmt);
va_end(arg_list);
hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
gcs().send_statustext(severity, 0xFF, str);
}
/* /*
return true if we will accept this packet. Used to implement SYSID_ENFORCE return true if we will accept this packet. Used to implement SYSID_ENFORCE
*/ */

4
ArduCopter/Log.cpp
View File

@ -150,9 +150,9 @@ int8_t Copter::process_logs(uint8_t argc, const Menu::arg *argv)
void Copter::do_erase_logs(void) void Copter::do_erase_logs(void)
{ {
gcs_send_text(MAV_SEVERITY_INFO, "Erasing logs"); gcs().send_text(MAV_SEVERITY_INFO, "Erasing logs");
DataFlash.EraseAll(); DataFlash.EraseAll();
gcs_send_text(MAV_SEVERITY_INFO, "Log erase complete"); gcs().send_text(MAV_SEVERITY_INFO, "Log erase complete");
} }
#if AUTOTUNE_ENABLED == ENABLED #if AUTOTUNE_ENABLED == ENABLED

24
ArduCopter/commands_logic.cpp
View File

@ -117,10 +117,10 @@ bool Copter::start_command(const AP_Mission::Mission_Command& cmd)
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
if (cmd.p1 == 0) { //disable if (cmd.p1 == 0) { //disable
copter.fence.enable(false); copter.fence.enable(false);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Fence Disabled"); gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled");
} else { //enable fence } else { //enable fence
copter.fence.enable(true); copter.fence.enable(true);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Fence Enabled"); gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled");
} }
#endif //AC_FENCE == ENABLED #endif //AC_FENCE == ENABLED
break; break;
@ -273,7 +273,7 @@ bool Copter::verify_command(const AP_Mission::Mission_Command& cmd)
default: default:
// error message // error message
gcs_send_text_fmt(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id); gcs().send_text(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
// return true if we do not recognize the command so that we move on to the next command // return true if we do not recognize the command so that we move on to the next command
return true; return true;
} }
@ -593,7 +593,7 @@ void Copter::do_nav_delay(const AP_Mission::Mission_Command& cmd)
// absolute delay to utc time // absolute delay to utc time
nav_delay_time_max = hal.util->get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0); nav_delay_time_max = hal.util->get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
} }
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000)); gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000));
} }
#if PARACHUTE == ENABLED #if PARACHUTE == ENABLED
@ -727,7 +727,7 @@ bool Copter::verify_payload_place()
case PayloadPlaceStateType_Calibrating_Hover: case PayloadPlaceStateType_Calibrating_Hover:
case PayloadPlaceStateType_Descending_Start: case PayloadPlaceStateType_Descending_Start:
case PayloadPlaceStateType_Descending: case PayloadPlaceStateType_Descending:
gcs_send_text_fmt(MAV_SEVERITY_INFO, "NAV_PLACE: landed"); gcs().send_text(MAV_SEVERITY_INFO, "NAV_PLACE: landed");
nav_payload_place.state = PayloadPlaceStateType_Releasing_Start; nav_payload_place.state = PayloadPlaceStateType_Releasing_Start;
break; break;
case PayloadPlaceStateType_Releasing_Start: case PayloadPlaceStateType_Releasing_Start:
@ -765,7 +765,7 @@ bool Copter::verify_payload_place()
// we have a valid calibration. Hopefully. // we have a valid calibration. Hopefully.
nav_payload_place.hover_throttle_level = current_throttle_level; nav_payload_place.hover_throttle_level = current_throttle_level;
const float hover_throttle_delta = fabsf(nav_payload_place.hover_throttle_level - motors->get_throttle_hover()); const float hover_throttle_delta = fabsf(nav_payload_place.hover_throttle_level - motors->get_throttle_hover());
gcs_send_text_fmt(MAV_SEVERITY_INFO, "hover throttle delta: %f", static_cast<double>(hover_throttle_delta)); gcs().send_text(MAV_SEVERITY_INFO, "hover throttle delta: %f", static_cast<double>(hover_throttle_delta));
nav_payload_place.state = PayloadPlaceStateType_Descending_Start; nav_payload_place.state = PayloadPlaceStateType_Descending_Start;
} }
// no break // no break
@ -781,7 +781,7 @@ bool Copter::verify_payload_place()
if (!is_zero(nav_payload_place.descend_max) && if (!is_zero(nav_payload_place.descend_max) &&
nav_payload_place.descend_start_altitude - inertial_nav.get_altitude() > nav_payload_place.descend_max) { nav_payload_place.descend_start_altitude - inertial_nav.get_altitude() > nav_payload_place.descend_max) {
nav_payload_place.state = PayloadPlaceStateType_Ascending; nav_payload_place.state = PayloadPlaceStateType_Ascending;
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Reached maximum descent"); gcs().send_text(MAV_SEVERITY_WARNING, "Reached maximum descent");
return false; // we'll do any cleanups required next time through the loop return false; // we'll do any cleanups required next time through the loop
} }
// see if we've been descending long enough to calibrate a descend-throttle-level: // see if we've been descending long enough to calibrate a descend-throttle-level:
@ -812,15 +812,15 @@ bool Copter::verify_payload_place()
case PayloadPlaceStateType_Releasing_Start: case PayloadPlaceStateType_Releasing_Start:
#if GRIPPER_ENABLED == ENABLED #if GRIPPER_ENABLED == ENABLED
if (g2.gripper.valid()) { if (g2.gripper.valid()) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Releasing the gripper"); gcs().send_text(MAV_SEVERITY_INFO, "Releasing the gripper");
g2.gripper.release(); g2.gripper.release();
} else { } else {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Gripper not valid"); gcs().send_text(MAV_SEVERITY_INFO, "Gripper not valid");
nav_payload_place.state = PayloadPlaceStateType_Ascending_Start; nav_payload_place.state = PayloadPlaceStateType_Ascending_Start;
break; break;
} }
#else #else
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Gripper code disabled"); gcs().send_text(MAV_SEVERITY_INFO, "Gripper code disabled");
#endif #endif
nav_payload_place.state = PayloadPlaceStateType_Releasing; nav_payload_place.state = PayloadPlaceStateType_Releasing;
// no break // no break
@ -879,7 +879,7 @@ bool Copter::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// check if timer has run out // check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) { if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index); gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true; return true;
}else{ }else{
return false; return false;
@ -961,7 +961,7 @@ bool Copter::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
// check if timer has run out // check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) { if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index); gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true; return true;
}else{ }else{
return false; return false;

2
ArduCopter/control_auto.cpp
View File

@ -25,7 +25,7 @@ bool Copter::auto_init(bool ignore_checks)
// reject switching to auto mode if landed with motors armed but first command is not a takeoff (reduce chance of flips) // reject switching to auto mode if landed with motors armed but first command is not a takeoff (reduce chance of flips)
if (motors->armed() && ap.land_complete && !mission.starts_with_takeoff_cmd()) { if (motors->armed() && ap.land_complete && !mission.starts_with_takeoff_cmd()) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Auto: Missing Takeoff Cmd"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Auto: Missing Takeoff Cmd");
return false; return false;
} }

10
ArduCopter/control_autotune.cpp
View File

@ -1230,19 +1230,19 @@ void Copter::autotune_update_gcs(uint8_t message_id)
{ {
switch (message_id) { switch (message_id) {
case AUTOTUNE_MESSAGE_STARTED: case AUTOTUNE_MESSAGE_STARTED:
gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Started"); gcs().send_text(MAV_SEVERITY_INFO,"AutoTune: Started");
break; break;
case AUTOTUNE_MESSAGE_STOPPED: case AUTOTUNE_MESSAGE_STOPPED:
gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Stopped"); gcs().send_text(MAV_SEVERITY_INFO,"AutoTune: Stopped");
break; break;
case AUTOTUNE_MESSAGE_SUCCESS: case AUTOTUNE_MESSAGE_SUCCESS:
gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Success"); gcs().send_text(MAV_SEVERITY_INFO,"AutoTune: Success");
break; break;
case AUTOTUNE_MESSAGE_FAILED: case AUTOTUNE_MESSAGE_FAILED:
gcs_send_text(MAV_SEVERITY_NOTICE,"AutoTune: Failed"); gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: Failed");
break; break;
case AUTOTUNE_MESSAGE_SAVED_GAINS: case AUTOTUNE_MESSAGE_SAVED_GAINS:
gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Saved gains"); gcs().send_text(MAV_SEVERITY_INFO,"AutoTune: Saved gains");
break; break;
} }
} }

2
ArduCopter/control_rtl.cpp
View File

@ -29,7 +29,7 @@ void Copter::rtl_restart_without_terrain()
if (rtl_path.terrain_used) { if (rtl_path.terrain_used) {
rtl_build_path(false); rtl_build_path(false);
rtl_climb_start(); rtl_climb_start();
gcs_send_text(MAV_SEVERITY_CRITICAL,"Restarting RTL - Terrain data missing"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Restarting RTL - Terrain data missing");
} }
} }

8
ArduCopter/control_throw.cpp
View File

@ -39,18 +39,18 @@ void Copter::throw_run()
throw_state.stage = Throw_Disarmed; throw_state.stage = Throw_Disarmed;
} else if (throw_state.stage == Throw_Disarmed && motors->armed()) { } else if (throw_state.stage == Throw_Disarmed && motors->armed()) {
gcs_send_text(MAV_SEVERITY_INFO,"waiting for throw"); gcs().send_text(MAV_SEVERITY_INFO,"waiting for throw");
throw_state.stage = Throw_Detecting; throw_state.stage = Throw_Detecting;
} else if (throw_state.stage == Throw_Detecting && throw_detected()){ } else if (throw_state.stage == Throw_Detecting && throw_detected()){
gcs_send_text(MAV_SEVERITY_INFO,"throw detected - uprighting"); gcs().send_text(MAV_SEVERITY_INFO,"throw detected - uprighting");
throw_state.stage = Throw_Uprighting; throw_state.stage = Throw_Uprighting;
// Cancel the waiting for throw tone sequence // Cancel the waiting for throw tone sequence
AP_Notify::flags.waiting_for_throw = false; AP_Notify::flags.waiting_for_throw = false;
} else if (throw_state.stage == Throw_Uprighting && throw_attitude_good()) { } else if (throw_state.stage == Throw_Uprighting && throw_attitude_good()) {
gcs_send_text(MAV_SEVERITY_INFO,"uprighted - controlling height"); gcs().send_text(MAV_SEVERITY_INFO,"uprighted - controlling height");
throw_state.stage = Throw_HgtStabilise; throw_state.stage = Throw_HgtStabilise;
// initialize vertical speed and acceleration limits // initialize vertical speed and acceleration limits
@ -74,7 +74,7 @@ void Copter::throw_run()
set_auto_armed(true); set_auto_armed(true);
} else if (throw_state.stage == Throw_HgtStabilise && throw_height_good()) { } else if (throw_state.stage == Throw_HgtStabilise && throw_height_good()) {
gcs_send_text(MAV_SEVERITY_INFO,"height achieved - controlling position"); gcs().send_text(MAV_SEVERITY_INFO,"height achieved - controlling position");
throw_state.stage = Throw_PosHold; throw_state.stage = Throw_PosHold;
// initialise the loiter target to the curent position and velocity // initialise the loiter target to the curent position and velocity

8
ArduCopter/crash_check.cpp
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@ -45,7 +45,7 @@ void Copter::crash_check()
// log an error in the dataflash // log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH); Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
// send message to gcs // send message to gcs
gcs_send_text(MAV_SEVERITY_EMERGENCY,"Crash: Disarming"); gcs().send_text(MAV_SEVERITY_EMERGENCY,"Crash: Disarming");
// disarm motors // disarm motors
init_disarm_motors(); init_disarm_motors();
} }
@ -136,7 +136,7 @@ void Copter::parachute_check()
void Copter::parachute_release() void Copter::parachute_release()
{ {
// send message to gcs and dataflash // send message to gcs and dataflash
gcs_send_text(MAV_SEVERITY_INFO,"Parachute: Released"); gcs().send_text(MAV_SEVERITY_INFO,"Parachute: Released");
Log_Write_Event(DATA_PARACHUTE_RELEASED); Log_Write_Event(DATA_PARACHUTE_RELEASED);
// disarm motors // disarm motors
@ -162,7 +162,7 @@ void Copter::parachute_manual_release()
// do not release if we are landed or below the minimum altitude above home // do not release if we are landed or below the minimum altitude above home
if (ap.land_complete) { if (ap.land_complete) {
// 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); Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_LANDED);
return; return;
@ -171,7 +171,7 @@ void Copter::parachute_manual_release()
// do not release if we are landed or below the minimum altitude above home // do not release if we are landed or below the minimum altitude above home
if ((parachute.alt_min() != 0 && (current_loc.alt < (int32_t)parachute.alt_min() * 100))) { if ((parachute.alt_min() != 0 && (current_loc.alt < (int32_t)parachute.alt_min() * 100))) {
// 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); Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_TOO_LOW);
return; return;

4
ArduCopter/ekf_check.cpp
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@ -58,7 +58,7 @@ void Copter::ekf_check()
Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_EKFCHECK_BAD_VARIANCE); Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_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");
ekf_check_state.last_warn_time = AP_HAL::millis(); ekf_check_state.last_warn_time = AP_HAL::millis();
} }
failsafe_ekf_event(); failsafe_ekf_event();
@ -192,7 +192,7 @@ void Copter::check_ekf_reset()
if ((EKF2.getPrimaryCoreIndex() != ekf_primary_core) && (EKF2.getPrimaryCoreIndex() != -1)) { if ((EKF2.getPrimaryCoreIndex() != ekf_primary_core) && (EKF2.getPrimaryCoreIndex() != -1)) {
ekf_primary_core = EKF2.getPrimaryCoreIndex(); ekf_primary_core = EKF2.getPrimaryCoreIndex();
Log_Write_Error(ERROR_SUBSYSTEM_EKF_PRIMARY, ekf_primary_core); Log_Write_Error(ERROR_SUBSYSTEM_EKF_PRIMARY, ekf_primary_core);
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "EKF primary changed:%d\n", (unsigned)ekf_primary_core); gcs().send_text(MAV_SEVERITY_WARNING, "EKF primary changed:%d\n", (unsigned)ekf_primary_core);
} }
#endif #endif
} }

8
ArduCopter/esc_calibration.cpp
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@ -44,7 +44,7 @@ void Copter::esc_calibration_startup_check()
// we will enter esc_calibrate mode on next reboot // we will enter esc_calibrate mode on next reboot
g.esc_calibrate.set_and_save(ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH); g.esc_calibrate.set_and_save(ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
// send message to gcs // send message to gcs
gcs_send_text(MAV_SEVERITY_CRITICAL,"ESC calibration: Restart board"); gcs().send_text(MAV_SEVERITY_CRITICAL,"ESC calibration: Restart board");
// turn on esc calibration notification // turn on esc calibration notification
AP_Notify::flags.esc_calibration = true; AP_Notify::flags.esc_calibration = true;
// block until we restart // block until we restart
@ -95,7 +95,7 @@ void Copter::esc_calibration_passthrough()
} }
// send message to GCS // send message to GCS
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs"); gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs");
// disable safety if requested // disable safety if requested
BoardConfig.init_safety(); BoardConfig.init_safety();
@ -143,7 +143,7 @@ void Copter::esc_calibration_auto()
} }
// send message to GCS // send message to GCS
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Auto calibration"); gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Auto calibration");
// disable safety if requested // disable safety if requested
BoardConfig.init_safety(); BoardConfig.init_safety();
@ -163,7 +163,7 @@ void Copter::esc_calibration_auto()
// wait for safety switch to be pressed // wait for safety switch to be pressed
while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) { while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (!printed_msg) { if (!printed_msg) {
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch"); gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
printed_msg = true; printed_msg = true;
} }
hal.rcout->cork(); hal.rcout->cork();

4
ArduCopter/events.cpp
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@ -66,7 +66,7 @@ void Copter::failsafe_battery_event(void)
set_failsafe_battery(true); set_failsafe_battery(true);
// warn the ground station and log to dataflash // warn the ground station and log to dataflash
gcs_send_text(MAV_SEVERITY_WARNING,"Low battery"); gcs().send_text(MAV_SEVERITY_WARNING,"Low battery");
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED); Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
} }
@ -172,7 +172,7 @@ void Copter::failsafe_terrain_set_status(bool data_ok)
void Copter::failsafe_terrain_on_event() 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); Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_FAILSAFE_OCCURRED);
if (should_disarm_on_failsafe()) { if (should_disarm_on_failsafe()) {

2
ArduCopter/flight_mode.cpp
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@ -142,7 +142,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
} else { } else {
// Log error that we failed to enter desired flight mode // Log error that we failed to enter desired flight mode
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode); Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
gcs_send_text(MAV_SEVERITY_WARNING,"Flight mode change failed"); gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed");
} }
// update notify object // update notify object

6
ArduCopter/motors.cpp
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@ -160,7 +160,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
} }
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL #if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text(MAV_SEVERITY_INFO, "Arming motors"); gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
#endif #endif
// Remember Orientation // Remember Orientation
@ -228,7 +228,7 @@ void Copter::init_disarm_motors()
} }
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL #if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text(MAV_SEVERITY_INFO, "Disarming motors"); gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
#endif #endif
// save compass offsets learned by the EKF if enabled // save compass offsets learned by the EKF if enabled
@ -331,7 +331,7 @@ void Copter::lost_vehicle_check()
if (soundalarm_counter >= LOST_VEHICLE_DELAY) { if (soundalarm_counter >= LOST_VEHICLE_DELAY) {
if (AP_Notify::flags.vehicle_lost == false) { if (AP_Notify::flags.vehicle_lost == false) {
AP_Notify::flags.vehicle_lost = true; AP_Notify::flags.vehicle_lost = true;
gcs_send_text(MAV_SEVERITY_NOTICE,"Locate Copter alarm"); gcs().send_text(MAV_SEVERITY_NOTICE,"Locate Copter alarm");
} }
} else { } else {
soundalarm_counter++; soundalarm_counter++;

4
ArduCopter/sensors.cpp
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@ -2,13 +2,13 @@
void Copter::init_barometer(bool full_calibration) void Copter::init_barometer(bool full_calibration)
{ {
gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer"); gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
if (full_calibration) { if (full_calibration) {
barometer.calibrate(); barometer.calibrate();
}else{ }else{
barometer.update_calibration(); barometer.update_calibration();
} }
gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete"); gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
} }
// return barometric altitude in centimeters // return barometric altitude in centimeters

2
ArduCopter/switches.cpp
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@ -605,7 +605,7 @@ void Copter::save_trim()
float pitch_trim = ToRad((float)channel_pitch->get_control_in()/100.0f); float pitch_trim = ToRad((float)channel_pitch->get_control_in()/100.0f);
ahrs.add_trim(roll_trim, pitch_trim); ahrs.add_trim(roll_trim, pitch_trim);
Log_Write_Event(DATA_SAVE_TRIM); Log_Write_Event(DATA_SAVE_TRIM);
gcs_send_text(MAV_SEVERITY_INFO, "Trim saved"); gcs().send_text(MAV_SEVERITY_INFO, "Trim saved");
} }
// auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions // auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions

2
ArduCopter/system.cpp
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@ -262,7 +262,7 @@ void Copter::init_ardupilot()
while (barometer.get_last_update() == 0) { while (barometer.get_last_update() == 0) {
// the barometer begins updating when we get the first // the barometer begins updating when we get the first
// HIL_STATE message // HIL_STATE message
gcs_send_text(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message"); gcs().send_text(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message");
delay(1000); delay(1000);
} }