From e18181e5c2608bd77c6afc306fb065000354c463 Mon Sep 17 00:00:00 2001 From: lvale Date: Wed, 4 Nov 2015 03:52:54 +0000 Subject: [PATCH] Plane: Uniformization of severities Plane uniformization of severities --- ArduPlane/ArduPlane.cpp | 12 +++++----- ArduPlane/Attitude.cpp | 6 ++--- ArduPlane/GCS_Mavlink.cpp | 26 ++++++++++----------- ArduPlane/Plane.h | 2 +- ArduPlane/altitude.cpp | 4 ++-- ArduPlane/commands.cpp | 6 ++--- ArduPlane/commands_logic.cpp | 44 ++++++++++++++++++------------------ ArduPlane/events.cpp | 6 ++--- ArduPlane/geofence.cpp | 8 +++---- ArduPlane/is_flying.cpp | 4 ++-- ArduPlane/landing.cpp | 20 ++++++++-------- ArduPlane/parachute.cpp | 2 +- ArduPlane/radio.cpp | 4 ++-- ArduPlane/sensors.cpp | 6 ++--- ArduPlane/system.cpp | 6 ++--- ArduPlane/takeoff.cpp | 12 +++++----- 16 files changed, 84 insertions(+), 84 deletions(-) diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp index b388942702..fb61d8fd95 100644 --- a/ArduPlane/ArduPlane.cpp +++ b/ArduPlane/ArduPlane.cpp @@ -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: diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp index b9cb481a57..6602624cff 100644 --- a/ArduPlane/Attitude.cpp +++ b/ArduPlane/Attitude.cpp @@ -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); diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp index 263b10cb89..0f9e6c0386 100644 --- a/ArduPlane/GCS_Mavlink.cpp +++ b/ArduPlane/GCS_Mavlink.cpp @@ -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); diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h index 7edd982aa2..f248cc13d1 100644 --- a/ArduPlane/Plane.h +++ b/ArduPlane/Plane.h @@ -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(); diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp index b35a624ec8..b888309a18 100644 --- a/ArduPlane/altitude.cpp +++ b/ArduPlane/altitude.cpp @@ -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)); } diff --git a/ArduPlane/commands.cpp b/ArduPlane/commands.cpp index de9acf774a..db1aaf01b6 100644 --- a/ArduPlane/commands.cpp +++ b/ArduPlane/commands.cpp @@ -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(); diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp index 142f2eeb76..efcbf6a89e 100644 --- a/ArduPlane/commands_logic.cpp +++ b/ArduPlane/commands_logic.cpp @@ -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()); diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp index 76787c140b..d993f86906 100644 --- a/ArduPlane/events.cpp +++ b/ArduPlane/events.cpp @@ -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) { diff --git a/ArduPlane/geofence.cpp b/ArduPlane/geofence.cpp index 0899527cb3..f7b32ed238 100644 --- a/ArduPlane/geofence.cpp +++ b/ArduPlane/geofence.cpp @@ -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 diff --git a/ArduPlane/is_flying.cpp b/ArduPlane/is_flying.cpp index ad5de458b1..15b507194f 100644 --- a/ArduPlane/is_flying.cpp +++ b/ArduPlane/is_flying.cpp @@ -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"); } } } diff --git a/ArduPlane/landing.cpp b/ArduPlane/landing.cpp index 6872c7161a..4e3fbdb647 100644 --- a/ArduPlane/landing.cpp +++ b/ArduPlane/landing.cpp @@ -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; } diff --git a/ArduPlane/parachute.cpp b/ArduPlane/parachute.cpp index 8b116ab8a7..6c57517878 100644 --- a/ArduPlane/parachute.cpp +++ b/ArduPlane/parachute.cpp @@ -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; } diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp index 142a833f94..4629b605bd 100644 --- a/ArduPlane/radio.cpp +++ b/ArduPlane/radio.cpp @@ -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; diff --git a/ArduPlane/sensors.cpp b/ArduPlane/sensors.cpp index 1d47c8cc8c..a24954d9dc 100644 --- a/ArduPlane/sensors.cpp +++ b/ArduPlane/sensors.cpp @@ -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 diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp index 4fbb518b50..99974d1efe 100644 --- a/ArduPlane/system.cpp +++ b/ArduPlane/system.cpp @@ -254,10 +254,10 @@ void Plane::startup_ground(void) { set_mode(INITIALISING); - gcs_send_text(MAV_SEVERITY_WARNING," GROUND START"); + gcs_send_text(MAV_SEVERITY_INFO," GROUND START"); #if (GROUND_START_DELAY > 0) - gcs_send_text(MAV_SEVERITY_WARNING," With Delay"); + gcs_send_text(MAV_SEVERITY_NOTICE," 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() { diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp index dc18c3252f..8da7932a64 100644 --- a/ArduPlane/takeoff.cpp +++ b/ArduPlane/takeoff.cpp @@ -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;