aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Rover: text message severity uniformization

Browse Source 
Global revision of message severity values.

Required also change to the low priority function gcs_send_text_fmt()
on GCS_Mavlink.cpp to disable the automatic setting of priority on
messages sent by this function
This commit is contained in:
lvale 2015-11-03 05:19:03 +00:00 committed by Randy Mackay
parent 549695181c
commit a64689600f
9 changed files with 35 additions and 40 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
APMrover2/GCS_Mavlink.cpp
View File

@ -878,7 +878,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
uint8_t result = MAV_RESULT_UNSUPPORTED;
// do command
send_text(MAV_SEVERITY_WARNING,"command received: ");
send_text(MAV_SEVERITY_INFO,"command received: ");
switch(packet.command) {
@ -1137,10 +1137,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// mark the firmware version in the tlog
send_text(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING);
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif
handle_param_request_list(msg);
break;
@ -1363,7 +1363,7 @@ void Rover::mavlink_delay_cb()
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text(MAV_SEVERITY_WARNING, "Initialising APM...");
gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM...");
}
check_usb_mux();
@ -1440,10 +1440,10 @@ void Rover::gcs_send_text(MAV_SEVERITY severity, const char *str)
* 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 Rover::gcs_send_text_fmt(const char *fmt, ...)
void Rover::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
{
va_list arg_list;
gcs[0].pending_status.severity = (uint8_t)MAV_SEVERITY_WARNING;
gcs[0].pending_status.severity = (uint8_t)severity;
va_start(arg_list, fmt);
hal.util->vsnprintf((char *)gcs[0].pending_status.text,
sizeof(gcs[0].pending_status.text), fmt, arg_list);

4
APMrover2/Log.cpp
View File

@ -391,9 +391,9 @@ void Rover::log_init(void)
gcs_send_text(MAV_SEVERITY_WARNING, "No dataflash card inserted");
g.log_bitmask.set(0);
} else if (DataFlash.NeedPrep()) {
gcs_send_text(MAV_SEVERITY_WARNING, "Preparing log system");
gcs_send_text(MAV_SEVERITY_INFO, "Preparing log system");
DataFlash.Prep();
gcs_send_text(MAV_SEVERITY_WARNING, "Prepared log system");
gcs_send_text(MAV_SEVERITY_INFO, "Prepared log system");
for (uint8_t i=0; i<num_gcs; i++) {
gcs[i].reset_cli_timeout();
}

2
APMrover2/Rover.h
View File

@ -489,7 +489,7 @@ private:
bool should_log(uint32_t mask);
void frsky_telemetry_send(void);
void print_hit_enter();
void gcs_send_text_fmt(const char *fmt, ...);
void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd);

2
APMrover2/Steering.cpp
View File

@ -57,7 +57,7 @@ bool Rover::auto_check_trigger(void)
if (!is_zero(g.auto_kickstart)) {
float xaccel = ins.get_accel().x;
if (xaccel >= g.auto_kickstart) {
gcs_send_text_fmt("Triggered AUTO xaccel=%.1f", (double)xaccel);
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Triggered AUTO xaccel=%.1f", (double)xaccel);
auto_triggered = true;
return true;
}

4
APMrover2/commands.cpp
View File

@ -30,7 +30,7 @@ void Rover::set_next_WP(const struct Location& loc)
// location as the previous waypoint, to prevent immediately
// considering the waypoint complete
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text(MAV_SEVERITY_WARNING, "Resetting prev_WP");
gcs_send_text(MAV_SEVERITY_NOTICE, "Resetting prev_WP");
prev_WP = current_loc;
}
@ -63,7 +63,7 @@ void Rover::init_home()
return;
}
gcs_send_text(MAV_SEVERITY_WARNING, "init home");
gcs_send_text(MAV_SEVERITY_INFO, "init home");
ahrs.set_home(gps.location());
home_is_set = true;

18
APMrover2/commands_logic.cpp
View File

@ -17,7 +17,7 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
return false;
}
gcs_send_text_fmt("Executing command ID #%i",cmd.id);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing command ID #%i",cmd.id);
// remember the course of our next navigation leg
next_navigation_leg_cd = mission.get_next_ground_course_cd(0);
@ -117,7 +117,7 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
void Rover::exit_mission()
{
if (control_mode == AUTO) {
gcs_send_text_fmt("No commands. Can't set AUTO - setting HOLD");
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "No commands. Can't set AUTO - setting HOLD");
set_mode(HOLD);
}
}
@ -203,7 +203,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// Check if we need to loiter at this waypoint
if (loiter_time_max > 0) {
if (loiter_time == 0) { // check if we are just starting loiter
gcs_send_text_fmt("Reached Waypoint #%i - Loiter for %i seconds",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Waypoint #%i - Loiter for %i seconds",
(unsigned)cmd.index,
(unsigned)loiter_time_max);
// record the current time i.e. start timer
@ -214,7 +214,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
return false;
}
} else {
gcs_send_text_fmt("Reached Waypoint #%i dist %um",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Waypoint #%i dist %um",
(unsigned)cmd.index,
(unsigned)get_distance(current_loc, next_WP));
}
@ -228,7 +228,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// check if we have gone futher past the wp then last time and output new message if we have
if ((uint32_t)distance_past_wp != (uint32_t)get_distance(current_loc, next_WP)) {
distance_past_wp = get_distance(current_loc, next_WP);
gcs_send_text_fmt("Passed Waypoint #%i dist %um",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed Waypoint #%i dist %um",
(unsigned)cmd.index,
(unsigned)distance_past_wp);
}
@ -248,14 +248,14 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
bool Rover::verify_RTL()
{
if (wp_distance <= g.waypoint_radius) {
gcs_send_text(MAV_SEVERITY_WARNING,"Reached Destination");
gcs_send_text(MAV_SEVERITY_INFO,"Reached Destination");
rtl_complete = true;
return true;
}
// have we gone past the waypoint?
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_fmt("Reached Destination: Distance away %um",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Destination: Distance away %um",
(unsigned)get_distance(current_loc, next_WP));
rtl_complete = true;
return true;
@ -309,12 +309,12 @@ void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
{
if (cmd.content.speed.target_ms > 0) {
g.speed_cruise.set(cmd.content.speed.target_ms);
gcs_send_text_fmt("Cruise speed: %.1f m/s", (double)g.speed_cruise.get());
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise speed: %.1f m/s", (double)g.speed_cruise.get());
}
if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
g.throttle_cruise.set(cmd.content.speed.throttle_pct);
gcs_send_text_fmt("Cruise throttle: %.1f", g.throttle_cruise.get());
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise throttle: %.1f", g.throttle_cruise.get());
}
}

5
APMrover2/navigation.cpp
View File

@ -21,11 +21,6 @@ void Rover::navigate()
// ----------------------------
wp_distance = get_distance(current_loc, next_WP);
if (wp_distance < 0){
gcs_send_text(MAV_SEVERITY_CRITICAL,"<navigate> WP error - distance < 0");
return;
}
// control mode specific updates to nav_bearing
// --------------------------------------------
update_navigation();

12
APMrover2/sensors.cpp
View File

@ -4,9 +4,9 @@
void Rover::init_barometer(void)
{
gcs_send_text(MAV_SEVERITY_WARNING, "Calibrating barometer");
gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
barometer.calibrate();
gcs_send_text(MAV_SEVERITY_WARNING, "barometer calibration complete");
gcs_send_text(MAV_SEVERITY_INFO, "barometer calibration complete");
}
void Rover::init_sonar(void)
@ -56,7 +56,7 @@ void Rover::read_sonars(void)
obstacle.detected_count++;
}
if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt("Sonar1 obstacle %u cm",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar1 obstacle %u cm",
(unsigned)obstacle.sonar1_distance_cm);
}
obstacle.detected_time_ms = hal.scheduler->millis();
@ -67,7 +67,7 @@ void Rover::read_sonars(void)
obstacle.detected_count++;
}
if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt("Sonar2 obstacle %u cm",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar2 obstacle %u cm",
(unsigned)obstacle.sonar2_distance_cm);
}
obstacle.detected_time_ms = hal.scheduler->millis();
@ -83,7 +83,7 @@ void Rover::read_sonars(void)
obstacle.detected_count++;
}
if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt("Sonar obstacle %u cm",
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Sonar obstacle %u cm",
(unsigned)obstacle.sonar1_distance_cm);
}
obstacle.detected_time_ms = hal.scheduler->millis();
@ -96,7 +96,7 @@ void Rover::read_sonars(void)
// no object detected - reset after the turn time
if (obstacle.detected_count >= g.sonar_debounce &&
hal.scheduler->millis() > obstacle.detected_time_ms + g.sonar_turn_time*1000) {
gcs_send_text_fmt("Obstacle passed");
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Obstacle passed");
obstacle.detected_count = 0;
obstacle.turn_angle = 0;
}

16
APMrover2/system.cpp
View File

@ -213,11 +213,11 @@ void Rover::init_ardupilot()
void Rover::startup_ground(void)
{
set_mode(INITIALISING);
gcs_send_text(MAV_SEVERITY_WARNING,"<startup_ground> GROUND START");
gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> GROUND START");
#if(GROUND_START_DELAY > 0)
gcs_send_text(MAV_SEVERITY_WARNING,"<startup_ground> With Delay");
gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With Delay");
delay(GROUND_START_DELAY * 1000);
#endif
@ -241,7 +241,7 @@ void Rover::startup_ground(void)
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash);
gcs_send_text(MAV_SEVERITY_WARNING,"\n\n Ready to drive.");
gcs_send_text(MAV_SEVERITY_INFO,"\n\n Ready to drive.");
}
/*
@ -352,7 +352,7 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
}
if (failsafe.triggered != 0 && failsafe.bits == 0) {
// a failsafe event has ended
gcs_send_text_fmt("Failsafe ended");
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Failsafe ended");
}
failsafe.triggered &= failsafe.bits;
@ -363,7 +363,7 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
control_mode != RTL &&
control_mode != HOLD) {
failsafe.triggered = failsafe.bits;
gcs_send_text_fmt("Failsafe trigger 0x%x", (unsigned)failsafe.triggered);
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Failsafe trigger 0x%x", (unsigned)failsafe.triggered);
switch (g.fs_action) {
case 0:
break;
@ -379,12 +379,12 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
void Rover::startup_INS_ground(void)
{
gcs_send_text(MAV_SEVERITY_ALERT, "Warming up ADC...");
gcs_send_text(MAV_SEVERITY_INFO, "Warming up ADC...");
mavlink_delay(500);
// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
// -----------------------
gcs_send_text(MAV_SEVERITY_ALERT, "Beginning INS calibration; do not move vehicle");
gcs_send_text(MAV_SEVERITY_INFO, "Beginning INS calibration; do not move vehicle");
mavlink_delay(1000);
ahrs.init();