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Copter: revisions to text strings sent to GCS

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This commit is contained in:
Luis Vale Gonçalves 2015-11-18 19:08:19 +00:00 committed by Randy Mackay
parent f5d73a9d10
commit 3199829d45
12 changed files with 37 additions and 37 deletions
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6
ArduCopter/AP_State.cpp
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@ -43,15 +43,15 @@ void Copter::set_simple_mode(uint8_t b)
if(ap.simple_mode != b){ if(ap.simple_mode != b){
if(b == 0){ if(b == 0){
Log_Write_Event(DATA_SET_SIMPLE_OFF); Log_Write_Event(DATA_SET_SIMPLE_OFF);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Simple:OFF"); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode off");
}else if(b == 1){ }else if(b == 1){
Log_Write_Event(DATA_SET_SIMPLE_ON); Log_Write_Event(DATA_SET_SIMPLE_ON);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Simple:ON"); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode on");
}else{ }else{
// initialise super simple heading // initialise super simple heading
update_super_simple_bearing(true); update_super_simple_bearing(true);
Log_Write_Event(DATA_SET_SUPERSIMPLE_ON); Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SuperSimple:ON"); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on");
} }
ap.simple_mode = b; ap.simple_mode = b;
} }

12
ArduCopter/GCS_Mavlink.cpp
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@ -1841,12 +1841,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (packet.idx >= copter.rally.get_rally_total() || if (packet.idx >= copter.rally.get_rally_total() ||
packet.idx >= copter.rally.get_rally_max()) { packet.idx >= copter.rally.get_rally_max()) {
send_text(MAV_SEVERITY_NOTICE,"bad rally point message ID"); send_text(MAV_SEVERITY_NOTICE,"Bad rally point message ID");
break; break;
} }
if (packet.count != copter.rally.get_rally_total()) { if (packet.count != copter.rally.get_rally_total()) {
send_text(MAV_SEVERITY_NOTICE,"bad rally point message count"); send_text(MAV_SEVERITY_NOTICE,"Bad rally point message count");
break; break;
} }
@ -1859,7 +1859,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
rally_point.flags = packet.flags; rally_point.flags = packet.flags;
if (!copter.rally.set_rally_point_with_index(packet.idx, rally_point)) { if (!copter.rally.set_rally_point_with_index(packet.idx, rally_point)) {
send_text(MAV_SEVERITY_CRITICAL, "error setting rally point"); send_text(MAV_SEVERITY_CRITICAL, "Error setting rally point");
} }
break; break;
@ -1875,7 +1875,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
//send_text(MAV_SEVERITY_INFO, "## getting rally point in GCS_Mavlink.cpp 2"); // #### TEMP //send_text(MAV_SEVERITY_INFO, "## getting rally point in GCS_Mavlink.cpp 2"); // #### TEMP
if (packet.idx > copter.rally.get_rally_total()) { if (packet.idx > copter.rally.get_rally_total()) {
send_text(MAV_SEVERITY_NOTICE, "bad rally point index"); send_text(MAV_SEVERITY_NOTICE, "Bad rally point index");
break; break;
} }
@ -1883,7 +1883,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
RallyLocation rally_point; RallyLocation rally_point;
if (!copter.rally.get_rally_point_with_index(packet.idx, rally_point)) { if (!copter.rally.get_rally_point_with_index(packet.idx, rally_point)) {
send_text(MAV_SEVERITY_NOTICE, "failed to set rally point"); send_text(MAV_SEVERITY_NOTICE, "Failed to set rally point");
break; break;
} }
@ -1971,7 +1971,7 @@ 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();

6
ArduCopter/Log.cpp
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@ -147,9 +147,9 @@ 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\n"); gcs_send_text(MAV_SEVERITY_INFO, "Erasing logs");
DataFlash.EraseAll(); DataFlash.EraseAll();
gcs_send_text(MAV_SEVERITY_INFO, "Log erase complete\n"); gcs_send_text(MAV_SEVERITY_INFO, "Log erase complete");
} }
#if AUTOTUNE_ENABLED == ENABLED #if AUTOTUNE_ENABLED == ENABLED
@ -807,7 +807,7 @@ void Copter::log_init(void)
{ {
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure)); DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
if (!DataFlash.CardInserted()) { if (!DataFlash.CardInserted()) {
gcs_send_text(MAV_SEVERITY_NOTICE, "No dataflash inserted"); gcs_send_text(MAV_SEVERITY_WARNING, "No dataflash card inserted");
g.log_bitmask.set(0); g.log_bitmask.set(0);
} else if (DataFlash.NeedPrep()) { } else if (DataFlash.NeedPrep()) {
gcs_send_text(MAV_SEVERITY_INFO, "Preparing log system"); gcs_send_text(MAV_SEVERITY_INFO, "Preparing log system");

4
ArduCopter/commands_logic.cpp
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@ -610,7 +610,7 @@ 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_fmt(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true; return true;
}else{ }else{
return false; return false;
@ -692,7 +692,7 @@ 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_fmt(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true; return true;
}else{ }else{
return false; return false;

16
ArduCopter/compassmot.cpp
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@ -37,7 +37,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
// check compass is enabled // check compass is enabled
if (!g.compass_enabled) { if (!g.compass_enabled) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "compass disabled\n"); gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Compass disabled");
ap.compass_mot = false; ap.compass_mot = false;
return 1; return 1;
} }
@ -46,7 +46,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
compass.read(); compass.read();
for (uint8_t i=0; i<compass.get_count(); i++) { for (uint8_t i=0; i<compass.get_count(); i++) {
if (!compass.healthy(i)) { if (!compass.healthy(i)) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "check compass"); gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Check compass");
ap.compass_mot = false; ap.compass_mot = false;
return 1; return 1;
} }
@ -63,7 +63,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
// check throttle is at zero // check throttle is at zero
read_radio(); read_radio();
if (channel_throttle->control_in != 0) { if (channel_throttle->control_in != 0) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "thr not zero"); gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Throttle not zero");
ap.compass_mot = false; ap.compass_mot = false;
return 1; return 1;
} }
@ -95,13 +95,13 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
AP_Notify::flags.esc_calibration = true; AP_Notify::flags.esc_calibration = true;
// warn user we are starting calibration // warn user we are starting calibration
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "STARTING CALIBRATION"); gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Starting calibration");
// inform what type of compensation we are attempting // inform what type of compensation we are attempting
if (comp_type == AP_COMPASS_MOT_COMP_CURRENT) { if (comp_type == AP_COMPASS_MOT_COMP_CURRENT) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "CURRENT"); gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Current");
} else{ } else{
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "THROTTLE"); gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Throttle");
} }
// disable throttle and battery failsafe // disable throttle and battery failsafe
@ -245,10 +245,10 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
} }
compass.save_motor_compensation(); compass.save_motor_compensation();
// display success message // display success message
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Calibration Successful!"); gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Calibration successful");
} else { } else {
// compensation vector never updated, report failure // compensation vector never updated, report failure
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_NOTICE, "Failed!"); gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_NOTICE, "Failed");
compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED); compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED);
} }

4
ArduCopter/control_autotune.cpp
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@ -243,7 +243,7 @@ bool Copter::autotune_start(bool ignore_checks)
return false; return false;
} }
// initialize vertical speeds and acceleration // initialize vertical speeds and leash lengths
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max); pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z); pos_control.set_accel_z(g.pilot_accel_z);
@ -1023,7 +1023,7 @@ void Copter::autotune_update_gcs(uint8_t message_id)
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;
} }
} }

4
ArduCopter/crash_check.cpp
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@ -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
@ -168,7 +168,7 @@ 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;

8
ArduCopter/esc_calibration.cpp
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@ -39,7 +39,7 @@ 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
@ -85,7 +85,7 @@ void Copter::esc_calibration_passthrough()
motors.set_update_rate(50); motors.set_update_rate(50);
// 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");
while(1) { while(1) {
// arm motors // arm motors
@ -115,7 +115,7 @@ void Copter::esc_calibration_auto()
motors.set_update_rate(50); motors.set_update_rate(50);
// 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");
// arm and enable motors // arm and enable motors
motors.armed(true); motors.armed(true);
@ -131,7 +131,7 @@ 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;
} }
delay(10); delay(10);

2
ArduCopter/events.cpp
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@ -159,7 +159,7 @@ 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);
} }

2
ArduCopter/motor_test.cpp
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@ -86,7 +86,7 @@ bool Copter::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
// 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) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Safety Switch"); gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Safety switch");
return false; return false;
} }

6
ArduCopter/motors.cpp
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@ -153,7 +153,7 @@ 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
@ -848,7 +848,7 @@ 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 // save compass offsets learned by the EKF
@ -918,7 +918,7 @@ 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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@ -4,13 +4,13 @@
void Copter::init_barometer(bool full_calibration) void Copter::init_barometer(bool full_calibration)
{ {
gcs_send_text(MAV_SEVERITY_NOTICE, "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