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

Plane: Uniformization of severities

Browse Source 
Plane uniformization of severities
This commit is contained in:
lvale 2015-11-04 03:52:54 +00:00 committed by Andrew Tridgell
parent 1b13315092
commit e18181e5c2
16 changed files with 84 additions and 84 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
ArduPlane/ArduPlane.cpp
View File

@ -332,7 +332,7 @@ void Plane::one_second_loop()
void Plane::log_perf_info()
{
if (scheduler.debug() != 0) {
gcs_send_text_fmt("G_Dt_max=%lu G_Dt_min=%lu\n",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "G_Dt_max=%lu G_Dt_min=%lu\n",
(unsigned long)G_Dt_max,
(unsigned long)G_Dt_min);
}
@ -769,22 +769,22 @@ void Plane::set_flight_stage(AP_SpdHgtControl::FlightStage fs)
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable == 1) {
if (! geofence_set_enabled(false, AUTO_TOGGLED)) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Disable fence failed (autodisable)");
gcs_send_text(MAV_SEVERITY_NOTICE, "Disable fence failed (autodisable)");
} else {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Fence disabled (autodisable)");
gcs_send_text(MAV_SEVERITY_NOTICE, "Fence disabled (autodisable)");
}
} else if (g.fence_autoenable == 2) {
if (! geofence_set_floor_enabled(false)) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Disable fence floor failed (autodisable)");
gcs_send_text(MAV_SEVERITY_NOTICE, "Disable fence floor failed (autodisable)");
} else {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Fence floor disabled (auto disable)");
gcs_send_text(MAV_SEVERITY_NOTICE, "Fence floor disabled (auto disable)");
}
}
#endif
break;
case AP_SpdHgtControl::FLIGHT_LAND_ABORT:
gcs_send_text_fmt("Landing aborted via throttle, climbing to %dm", auto_state.takeoff_altitude_rel_cm/100);
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Landing aborted via throttle, climbing to %dm", auto_state.takeoff_altitude_rel_cm/100);
break;
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:

6
ArduPlane/Attitude.cpp
View File

@ -609,7 +609,7 @@ bool Plane::suppress_throttle(void)
if (relative_altitude_abs_cm() >= 1000) {
// we're more than 10m from the home altitude
throttle_suppressed = false;
gcs_send_text_fmt("Throttle enabled - altitude %.2f",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Throttle enabled - altitude %.2f",
(double)(relative_altitude_abs_cm()*0.01f));
return false;
}
@ -620,7 +620,7 @@ bool Plane::suppress_throttle(void)
// groundspeed with bad GPS reception
if ((!ahrs.airspeed_sensor_enabled()) || airspeed.get_airspeed() >= 5) {
// we're moving at more than 5 m/s
gcs_send_text_fmt("Throttle enabled - speed %.2f airspeed %.2f",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Throttle enabled - speed %.2f airspeed %.2f",
(double)gps.ground_speed(),
(double)airspeed.get_airspeed());
throttle_suppressed = false;
@ -1061,7 +1061,7 @@ void Plane::set_servos(void)
void Plane::demo_servos(uint8_t i)
{
while(i > 0) {
gcs_send_text(MAV_SEVERITY_WARNING,"Demo Servos!");
gcs_send_text(MAV_SEVERITY_INFO,"Demo Servos!");
demoing_servos = true;
servo_write(1, 1400);
hal.scheduler->delay(400);

26
ArduPlane/GCS_Mavlink.cpp
View File

@ -1135,7 +1135,7 @@ 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) {
@ -1386,9 +1386,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
plane.auto_state.commanded_go_around = true;
result = MAV_RESULT_ACCEPTED;
plane.gcs_send_text(MAV_SEVERITY_CRITICAL,"Go around command accepted.");
plane.gcs_send_text(MAV_SEVERITY_INFO,"Go around command accepted.");
} else {
plane.gcs_send_text(MAV_SEVERITY_CRITICAL,"Rejected go around command.");
plane.gcs_send_text(MAV_SEVERITY_NOTICE,"Rejected go around command.");
}
break;
@ -1412,7 +1412,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (! plane.geofence_set_floor_enabled(false)) {
result = MAV_RESULT_FAILED;
} else {
plane.gcs_send_text(MAV_SEVERITY_CRITICAL,"Fence floor disabled.");
plane.gcs_send_text(MAV_SEVERITY_NOTICE,"Fence floor disabled.");
}
break;
default:
@ -1454,7 +1454,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
plane.Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(new_home_loc);
result = MAV_RESULT_ACCEPTED;
plane.gcs_send_text_fmt("set home to %.6f %.6f at %um",
plane.gcs_send_text_fmt(MAV_SEVERITY_INFO, "set home to %.6f %.6f at %um",
(double)(new_home_loc.lat*1.0e-7f),
(double)(new_home_loc.lng*1.0e-7f),
(uint32_t)(new_home_loc.alt*0.01f));
@ -1487,10 +1487,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case PARACHUTE_RELEASE:
// treat as a manual release which performs some additional check of altitude
if (plane.parachute.released()) {
plane.gcs_send_text_fmt("Parachute already released");
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Parachute already released");
result = MAV_RESULT_FAILED;
} else if (!plane.parachute.enabled()) {
plane.gcs_send_text_fmt("Parachute not enabled");
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Parachute not enabled");
result = MAV_RESULT_FAILED;
} else {
if (!plane.parachute_manual_release()) {
@ -1550,10 +1550,10 @@ 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;
@ -1893,7 +1893,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
plane.home_is_set = HOME_SET_NOT_LOCKED;
plane.Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(new_home_loc);
plane.gcs_send_text_fmt("set home to %.6f %.6f at %um",
plane.gcs_send_text_fmt(MAV_SEVERITY_INFO, "set home to %.6f %.6f at %um",
(double)(new_home_loc.lat*1.0e-7f),
(double)(new_home_loc.lng*1.0e-7f),
(uint32_t)(new_home_loc.alt*0.01f));
@ -1929,7 +1929,7 @@ void Plane::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();
@ -2006,10 +2006,10 @@ void Plane::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 Plane::gcs_send_text_fmt(const char *fmt, ...)
void Plane::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);

2
ArduPlane/Plane.h
View File

@ -916,7 +916,7 @@ private:
void update_aux();
void update_is_flying_5Hz(void);
void crash_detection_update(void);
void gcs_send_text_fmt(const char *fmt, ...);
void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
void handle_auto_mode(void);
void calc_throttle();
void calc_nav_roll();

4
ArduPlane/altitude.cpp
View File

@ -578,7 +578,7 @@ void Plane::rangefinder_height_update(void)
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH &&
g.rangefinder_landing) {
rangefinder_state.in_use = true;
gcs_send_text_fmt("Rangefinder engaged at %.2fm", height_estimate);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Rangefinder engaged at %.2fm", height_estimate);
}
}
} else {
@ -610,7 +610,7 @@ void Plane::rangefinder_height_update(void)
if (fabsf(rangefinder_state.correction - rangefinder_state.initial_correction) > 30) {
// the correction has changed by more than 30m, reset use of Lidar. We may have a bad lidar
if (rangefinder_state.in_use) {
gcs_send_text_fmt("Rangefinder disengaged at %.2fm", height_estimate);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Rangefinder disengaged at %.2fm", height_estimate);
}
memset(&rangefinder_state, 0, sizeof(rangefinder_state));
}

6
ArduPlane/commands.cpp
View File

@ -52,7 +52,7 @@ void Plane::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_loc, next_WP_loc)) {
gcs_send_text(MAV_SEVERITY_WARNING, "Resetting prev_WP");
gcs_send_text(MAV_SEVERITY_NOTICE, "Resetting prev_WP");
prev_WP_loc = current_loc;
}
@ -100,14 +100,14 @@ void Plane::set_guided_WP(void)
// -------------------------------
void Plane::init_home()
{
gcs_send_text(MAV_SEVERITY_WARNING, "init home");
gcs_send_text(MAV_SEVERITY_INFO, "init home");
ahrs.set_home(gps.location());
home_is_set = HOME_SET_NOT_LOCKED;
Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(gps.location());
gcs_send_text_fmt("gps alt: %lu", (unsigned long)home.alt);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "gps alt: %lu", (unsigned long)home.alt);
// Save Home to EEPROM
mission.write_home_to_storage();

44
ArduPlane/commands_logic.cpp
View File

@ -34,9 +34,9 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
// reset loiter start time. New command is a new loiter
loiter.start_time_ms = 0;
gcs_send_text_fmt("Executing nav command ID #%i",cmd.id);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing nav command ID #%i",cmd.id);
} else {
gcs_send_text_fmt("Executing command ID #%i",cmd.id);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing command ID #%i",cmd.id);
}
switch(cmd.id) {
@ -127,7 +127,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_DO_INVERTED_FLIGHT:
if (cmd.p1 == 0 || cmd.p1 == 1) {
auto_state.inverted_flight = (bool)cmd.p1;
gcs_send_text_fmt("Set inverted %u", cmd.p1);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set inverted %u", cmd.p1);
}
break;
@ -140,15 +140,15 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
#if GEOFENCE_ENABLED == ENABLED
if (cmd.p1 != 2) {
if (!geofence_set_enabled((bool) cmd.p1, AUTO_TOGGLED)) {
gcs_send_text_fmt("Unable to set fence enabled state to %u", cmd.p1);
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Unable to set fence enabled state to %u", cmd.p1);
} else {
gcs_send_text_fmt("Set fence enabled state to %u", cmd.p1);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set fence enabled state to %u", cmd.p1);
}
} else { //commanding to only disable floor
if (! geofence_set_floor_enabled(false)) {
gcs_send_text_fmt("Unabled to disable fence floor.\n");
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Unabled to disable fence floor.\n");
} else {
gcs_send_text_fmt("Fence floor disabled.\n");
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Fence floor disabled.\n");
}
}
#endif
@ -294,9 +294,9 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
default:
// error message
if (AP_Mission::is_nav_cmd(cmd)) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"verify_nav: Invalid or no current Nav cmd");
gcs_send_text(MAV_SEVERITY_WARNING,"verify_nav: Invalid or no current Nav cmd");
}else{
gcs_send_text(MAV_SEVERITY_CRITICAL,"verify_conditon: Invalid or no current Condition cmd");
gcs_send_text(MAV_SEVERITY_WARNING,"verify_conditon: Invalid or no current Condition cmd");
}
// return true so that we do not get stuck at this command
return true;
@ -494,7 +494,7 @@ bool Plane::verify_takeoff()
float takeoff_course = wrap_PI(radians(gps.ground_course_cd()*0.01f)) - steer_state.locked_course_err;
takeoff_course = wrap_PI(takeoff_course);
steer_state.hold_course_cd = wrap_360_cd(degrees(takeoff_course)*100);
gcs_send_text_fmt("Holding course %ld at %.1fm/s (%.1f)",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Holding course %ld at %.1fm/s (%.1f)",
steer_state.hold_course_cd,
(double)gps.ground_speed(),
(double)degrees(steer_state.locked_course_err));
@ -511,7 +511,7 @@ bool Plane::verify_takeoff()
// see if we have reached takeoff altitude
int32_t relative_alt_cm = adjusted_relative_altitude_cm();
if (relative_alt_cm > auto_state.takeoff_altitude_rel_cm) {
gcs_send_text_fmt("Takeoff complete at %.2fm",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Takeoff complete at %.2fm",
(double)(relative_alt_cm*0.01f));
steer_state.hold_course_cd = -1;
auto_state.takeoff_complete = true;
@ -520,9 +520,9 @@ bool Plane::verify_takeoff()
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable > 0) {
if (! geofence_set_enabled(true, AUTO_TOGGLED)) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Enable fence failed (cannot autoenable");
gcs_send_text(MAV_SEVERITY_NOTICE, "Enable fence failed (cannot autoenable");
} else {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Fence enabled. (autoenabled)");
gcs_send_text(MAV_SEVERITY_INFO, "Fence enabled. (autoenabled)");
}
}
#endif
@ -567,7 +567,7 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
}
if (auto_state.wp_distance <= acceptance_distance) {
gcs_send_text_fmt("Reached Waypoint #%i dist %um",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Waypoint #%i dist %um",
(unsigned)mission.get_current_nav_cmd().index,
(unsigned)get_distance(current_loc, next_WP_loc));
return true;
@ -575,7 +575,7 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// have we flown past the waypoint?
if (location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
gcs_send_text_fmt("Passed Waypoint #%i dist %um",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed Waypoint #%i dist %um",
(unsigned)mission.get_current_nav_cmd().index,
(unsigned)get_distance(current_loc, next_WP_loc));
return true;
@ -694,7 +694,7 @@ bool Plane::verify_RTL()
update_loiter();
if (auto_state.wp_distance <= (uint32_t)max(g.waypoint_radius,0) ||
nav_controller->reached_loiter_target()) {
gcs_send_text(MAV_SEVERITY_WARNING,"Reached home");
gcs_send_text(MAV_SEVERITY_INFO,"Reached home");
return true;
} else {
return false;
@ -744,11 +744,11 @@ bool Plane::verify_continue_and_change_alt()
bool Plane::verify_altitude_wait(const AP_Mission::Mission_Command &cmd)
{
if (current_loc.alt > cmd.content.altitude_wait.altitude*100.0f) {
gcs_send_text(MAV_SEVERITY_WARNING,"Reached altitude");
gcs_send_text(MAV_SEVERITY_INFO,"Reached altitude");
return true;
}
if (auto_state.sink_rate > cmd.content.altitude_wait.descent_rate) {
gcs_send_text_fmt("Reached descent rate %.1f m/s", (double)auto_state.sink_rate);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached descent rate %.1f m/s", (double)auto_state.sink_rate);
return true;
}
@ -854,17 +854,17 @@ void Plane::do_change_speed(const AP_Mission::Mission_Command& cmd)
case 0: // Airspeed
if (cmd.content.speed.target_ms > 0) {
g.airspeed_cruise_cm.set(cmd.content.speed.target_ms * 100);
gcs_send_text_fmt("Set airspeed %u m/s", (unsigned)cmd.content.speed.target_ms);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set airspeed %u m/s", (unsigned)cmd.content.speed.target_ms);
}
break;
case 1: // Ground speed
gcs_send_text_fmt("Set groundspeed %u", (unsigned)cmd.content.speed.target_ms);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set groundspeed %u", (unsigned)cmd.content.speed.target_ms);
g.min_gndspeed_cm.set(cmd.content.speed.target_ms * 100);
break;
}
if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
gcs_send_text_fmt("Set throttle %u", (unsigned)cmd.content.speed.throttle_pct);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set throttle %u", (unsigned)cmd.content.speed.throttle_pct);
aparm.throttle_cruise.set(cmd.content.speed.throttle_pct);
}
}
@ -982,7 +982,7 @@ bool Plane::verify_command_callback(const AP_Mission::Mission_Command& cmd)
void Plane::exit_mission_callback()
{
if (control_mode == AUTO) {
gcs_send_text_fmt("Returning to Home");
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Returning to Home");
memset(&auto_rtl_command, 0, sizeof(auto_rtl_command));
auto_rtl_command.content.location =
rally.calc_best_rally_or_home_location(current_loc, get_RTL_altitude());

6
ArduPlane/events.cpp
View File

@ -46,7 +46,7 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype)
default:
break;
}
gcs_send_text_fmt("flight mode = %u", (unsigned)control_mode);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "flight mode = %u", (unsigned)control_mode);
}
void Plane::failsafe_long_on_event(enum failsafe_state fstype)
@ -91,7 +91,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype)
if (fstype == FAILSAFE_GCS) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "No GCS heartbeat.");
}
gcs_send_text_fmt("flight mode = %u", (unsigned)control_mode);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "flight mode = %u", (unsigned)control_mode);
}
void Plane::failsafe_short_off_event()
@ -113,7 +113,7 @@ void Plane::low_battery_event(void)
if (failsafe.low_battery) {
return;
}
gcs_send_text_fmt("Low Battery %.2fV Used %.0f mAh",
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Low Battery %.2fV Used %.0f mAh",
(double)battery.voltage(), (double)battery.current_total_mah());
if (flight_stage != AP_SpdHgtControl::FLIGHT_LAND_FINAL &&
flight_stage != AP_SpdHgtControl::FLIGHT_LAND_APPROACH) {

8
ArduPlane/geofence.cpp
View File

@ -137,13 +137,13 @@ void Plane::geofence_load(void)
geofence_state->boundary_uptodate = true;
geofence_state->fence_triggered = false;
gcs_send_text(MAV_SEVERITY_WARNING,"geo-fence loaded");
gcs_send_text(MAV_SEVERITY_INFO,"geo-fence loaded");
gcs_send_message(MSG_FENCE_STATUS);
return;
failed:
g.fence_action.set(FENCE_ACTION_NONE);
gcs_send_text(MAV_SEVERITY_CRITICAL,"geo-fence setup error");
gcs_send_text(MAV_SEVERITY_WARNING,"geo-fence setup error");
}
/*
@ -335,7 +335,7 @@ void Plane::geofence_check(bool altitude_check_only)
if (geofence_state->fence_triggered && !altitude_check_only) {
// we have moved back inside the fence
geofence_state->fence_triggered = false;
gcs_send_text(MAV_SEVERITY_WARNING,"geo-fence OK");
gcs_send_text(MAV_SEVERITY_INFO,"geo-fence OK");
#if FENCE_TRIGGERED_PIN > 0
hal.gpio->pinMode(FENCE_TRIGGERED_PIN, HAL_GPIO_OUTPUT);
hal.gpio->write(FENCE_TRIGGERED_PIN, 0);
@ -365,7 +365,7 @@ void Plane::geofence_check(bool altitude_check_only)
hal.gpio->write(FENCE_TRIGGERED_PIN, 1);
#endif
gcs_send_text(MAV_SEVERITY_WARNING,"geo-fence triggered");
gcs_send_text(MAV_SEVERITY_NOTICE,"geo-fence triggered");
gcs_send_message(MSG_FENCE_STATUS);
// see what action the user wants

4
ArduPlane/is_flying.cpp
View File

@ -226,7 +226,7 @@ void Plane::crash_detection_update(void)
if (crashed_near_land_waypoint) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Hard Landing Detected - no action taken");
} else {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Crash Detected - no action taken");
gcs_send_text(MAV_SEVERITY_EMERGENCY, "Crash Detected - no action taken");
}
}
else {
@ -237,7 +237,7 @@ void Plane::crash_detection_update(void)
if (crashed_near_land_waypoint) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Hard Landing Detected");
} else {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Crash Detected");
gcs_send_text(MAV_SEVERITY_EMERGENCY, "Crash Detected");
}
}
}

20
ArduPlane/landing.cpp
View File

@ -74,9 +74,9 @@ bool Plane::verify_land()
if (!auto_state.land_complete) {
auto_state.post_landing_stats = true;
if (!is_flying() && (millis()-auto_state.last_flying_ms) > 3000) {
gcs_send_text_fmt("Flare crash detected: speed=%.1f", (double)gps.ground_speed());
gcs_send_text_fmt(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)gps.ground_speed());
} else {
gcs_send_text_fmt("Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
(double)height, (double)auto_state.sink_rate,
(double)gps.ground_speed(),
(double)get_distance(current_loc, next_WP_loc));
@ -110,7 +110,7 @@ bool Plane::verify_land()
// this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
if (auto_state.post_landing_stats && !arming.is_armed()) {
auto_state.post_landing_stats = false;
gcs_send_text_fmt("Distance from LAND point=%.2fm", (double)get_distance(current_loc, next_WP_loc));
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)get_distance(current_loc, next_WP_loc));
}
// check if we should auto-disarm after a confirmed landing
@ -139,7 +139,7 @@ void Plane::disarm_if_autoland_complete()
/* we have auto disarm enabled. See if enough time has passed */
if (millis() - auto_state.last_flying_ms >= g.land_disarm_delay*1000UL) {
if (disarm_motors()) {
gcs_send_text(MAV_SEVERITY_WARNING,"Auto-Disarmed");
gcs_send_text(MAV_SEVERITY_INFO,"Auto-Disarmed");
}
}
}
@ -260,14 +260,14 @@ bool Plane::restart_landing_sequence()
mission.set_current_cmd(current_index+1))
{
// if the next immediate command is MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT to climb, do it
gcs_send_text_fmt("Restarted landing sequence climbing to %dm", cmd.content.location.alt/100);
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Restarted landing sequence climbing to %dm", cmd.content.location.alt/100);
success = true;
}
else if (do_land_start_index != 0 &&
mission.set_current_cmd(do_land_start_index))
{
// look for a DO_LAND_START and use that index
gcs_send_text_fmt("Restarted landing via DO_LAND_START: %d",do_land_start_index);
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Restarted landing via DO_LAND_START: %d",do_land_start_index);
success = true;
}
else if (prev_cmd_with_wp_index != AP_MISSION_CMD_INDEX_NONE &&
@ -275,10 +275,10 @@ bool Plane::restart_landing_sequence()
{
// if a suitable navigation waypoint was just executed, one that contains lat/lng/alt, then
// repeat that cmd to restart the landing from the top of approach to repeat intended glide slope
gcs_send_text_fmt("Restarted landing sequence at waypoint %d", prev_cmd_with_wp_index);
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Restarted landing sequence at waypoint %d", prev_cmd_with_wp_index);
success = true;
} else {
gcs_send_text_fmt("Unable to restart landing sequence!");
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Unable to restart landing sequence!");
success = false;
}
return success;
@ -301,12 +301,12 @@ bool Plane::jump_to_landing_sequence(void)
mission.resume();
}
gcs_send_text(MAV_SEVERITY_WARNING, "Landing sequence begun.");
gcs_send_text(MAV_SEVERITY_INFO, "Landing sequence begun.");
return true;
}
}
gcs_send_text(MAV_SEVERITY_CRITICAL, "Unable to start landing sequence.");
gcs_send_text(MAV_SEVERITY_WARNING, "Unable to start landing sequence.");
return false;
}

2
ArduPlane/parachute.cpp
View File

@ -47,7 +47,7 @@ bool Plane::parachute_manual_release()
}
if (relative_altitude() < parachute.alt_min()) {
gcs_send_text_fmt("Parachute: too low");
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Parachute: too low");
return false;
}

4
ArduPlane/radio.cpp
View File

@ -239,7 +239,7 @@ void Plane::control_failsafe(uint16_t pwm)
// throttle has dropped below the mark
failsafe.ch3_counter++;
if (failsafe.ch3_counter == 10) {
gcs_send_text_fmt("MSG FS ON %u", (unsigned)pwm);
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "MSG FS ON %u", (unsigned)pwm);
failsafe.ch3_failsafe = true;
AP_Notify::flags.failsafe_radio = true;
}
@ -255,7 +255,7 @@ void Plane::control_failsafe(uint16_t pwm)
failsafe.ch3_counter = 3;
}
if (failsafe.ch3_counter == 1) {
gcs_send_text_fmt("MSG FS OFF %u", (unsigned)pwm);
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "MSG FS OFF %u", (unsigned)pwm);
} else if(failsafe.ch3_counter == 0) {
failsafe.ch3_failsafe = false;
AP_Notify::flags.failsafe_radio = false;

6
ArduPlane/sensors.cpp
View File

@ -5,10 +5,10 @@
void Plane::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 Plane::init_rangefinder(void)
@ -98,7 +98,7 @@ void Plane::zero_airspeed(bool in_startup)
read_airspeed();
// update barometric calibration with new airspeed supplied temperature
barometer.update_calibration();
gcs_send_text(MAV_SEVERITY_WARNING,"zero airspeed calibrated");
gcs_send_text(MAV_SEVERITY_INFO,"zero airspeed calibrated");
}
// read_battery - reads battery voltage and current and invokes failsafe

6
ArduPlane/system.cpp
View File

@ -254,10 +254,10 @@ void Plane::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
@ -304,7 +304,7 @@ void Plane::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 FLY.");
gcs_send_text(MAV_SEVERITY_INFO,"\n\n Ready to FLY.");
}
enum FlightMode Plane::get_previous_mode() {

12
ArduPlane/takeoff.cpp
View File

@ -22,7 +22,7 @@ bool Plane::auto_takeoff_check(void)
// Reset states if process has been interrupted
if (last_check_ms && (now - last_check_ms) > 200) {
gcs_send_text_fmt("Timer Interrupted AUTO");
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Timer Interrupted AUTO");
launchTimerStarted = false;
last_tkoff_arm_time = 0;
last_check_ms = now;
@ -48,13 +48,13 @@ bool Plane::auto_takeoff_check(void)
if (!launchTimerStarted) {
launchTimerStarted = true;
last_tkoff_arm_time = now;
gcs_send_text_fmt("Armed AUTO, xaccel = %.1f m/s/s, waiting %.1f sec",
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Armed AUTO, xaccel = %.1f m/s/s, waiting %.1f sec",
(double)SpdHgt_Controller->get_VXdot(), (double)(wait_time_ms*0.001f));
}
// Only perform velocity check if not timed out
if ((now - last_tkoff_arm_time) > wait_time_ms+100U) {
gcs_send_text_fmt("Timeout AUTO");
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Timeout AUTO");
goto no_launch;
}
@ -62,14 +62,14 @@ bool Plane::auto_takeoff_check(void)
if (ahrs.pitch_sensor <= -3000 ||
ahrs.pitch_sensor >= 4500 ||
labs(ahrs.roll_sensor) > 3000) {
gcs_send_text_fmt("Bad Launch AUTO");
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Bad Launch AUTO");
goto no_launch;
}
// Check ground speed and time delay
if (((gps.ground_speed() > g.takeoff_throttle_min_speed || is_zero(g.takeoff_throttle_min_speed))) &&
((now - last_tkoff_arm_time) >= wait_time_ms)) {
gcs_send_text_fmt("Triggered AUTO, GPSspd = %.1f", (double)gps.ground_speed());
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Triggered AUTO, GPSspd = %.1f", (double)gps.ground_speed());
launchTimerStarted = false;
last_tkoff_arm_time = 0;
return true;
@ -179,7 +179,7 @@ int8_t Plane::takeoff_tail_hold(void)
return_zero:
if (auto_state.fbwa_tdrag_takeoff_mode) {
gcs_send_text(MAV_SEVERITY_WARNING, "FBWA tdrag off");
gcs_send_text(MAV_SEVERITY_NOTICE, "FBWA tdrag off");
auto_state.fbwa_tdrag_takeoff_mode = false;
}
return 0;