dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Hotfix: Announcing important messages via audio

This commit is contained in:
Lorenz Meier 2013-10-28 14:47:37 +01:00
parent 52ee477137
commit 1336d625a8
1 changed files with 29 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

58
src/modules/commander/commander.cpp
View File

@ -379,7 +379,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
} }
// TODO remove debug code // TODO remove debug code
//mavlink_log_critical(mavlink_fd, "[cmd] command setmode: %d %d", base_mode, custom_main_mode); //mavlink_log_critical(mavlink_fd, "#audio: command setmode: %d %d", base_mode, custom_main_mode);
/* set arming state */ /* set arming state */
arming_res = TRANSITION_NOT_CHANGED; arming_res = TRANSITION_NOT_CHANGED;
@ -496,11 +496,11 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
} }
if (arming_res == TRANSITION_CHANGED) { if (arming_res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_fd, "[cmd] ARMED by component arm cmd"); mavlink_log_critical(mavlink_fd, "#audio: ARMED by component arm cmd");
result = VEHICLE_CMD_RESULT_ACCEPTED; result = VEHICLE_CMD_RESULT_ACCEPTED;
} else { } else {
mavlink_log_info(mavlink_fd, "[cmd] REJECTING component arm cmd"); mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd");
result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} }
} }
@ -521,13 +521,13 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
tune_negative(); tune_negative();
if (result == VEHICLE_CMD_RESULT_DENIED) { if (result == VEHICLE_CMD_RESULT_DENIED) {
mavlink_log_critical(mavlink_fd, "[cmd] command denied: %u", cmd->command); mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd->command);
} else if (result == VEHICLE_CMD_RESULT_FAILED) { } else if (result == VEHICLE_CMD_RESULT_FAILED) {
mavlink_log_critical(mavlink_fd, "[cmd] command failed: %u", cmd->command); mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd->command);
} else if (result == VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED) { } else if (result == VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED) {
mavlink_log_critical(mavlink_fd, "[cmd] command temporarily rejected: %u", cmd->command); mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd->command);
} }
} }
@ -874,10 +874,10 @@ int commander_thread_main(int argc, char *argv[])
status_changed = true; status_changed = true;
if (status.condition_landed) { if (status.condition_landed) {
mavlink_log_critical(mavlink_fd, "[cmd] LANDED"); mavlink_log_critical(mavlink_fd, "#audio: LANDED");
} else { } else {
mavlink_log_critical(mavlink_fd, "[cmd] IN AIR"); mavlink_log_critical(mavlink_fd, "#audio: IN AIR");
} }
} }
} }
@ -955,7 +955,7 @@ int commander_thread_main(int argc, char *argv[])
//TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS
if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) { if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) {
low_battery_voltage_actions_done = true; low_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "[cmd] WARNING: LOW BATTERY"); mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY");
status.battery_warning = VEHICLE_BATTERY_WARNING_LOW; status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
status_changed = true; status_changed = true;
battery_tune_played = false; battery_tune_played = false;
@ -967,7 +967,7 @@ int commander_thread_main(int argc, char *argv[])
/* critical battery voltage, this is rather an emergency, change state machine */ /* critical battery voltage, this is rather an emergency, change state machine */
if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) {
critical_battery_voltage_actions_done = true; critical_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY: CRITICAL BATTERY"); mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY");
status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL; status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
battery_tune_played = false; battery_tune_played = false;
@ -1069,12 +1069,12 @@ int commander_thread_main(int argc, char *argv[])
/* handle the case where RC signal was regained */ /* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) { if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true; status.rc_signal_found_once = true;
mavlink_log_critical(mavlink_fd, "[cmd] detected RC signal first time"); mavlink_log_critical(mavlink_fd, "#audio: detected RC signal first time");
status_changed = true; status_changed = true;
} else { } else {
if (status.rc_signal_lost) { if (status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "[cmd] RC signal regained"); mavlink_log_critical(mavlink_fd, "#audio: RC signal regained");
status_changed = true; status_changed = true;
} }
} }
@ -1143,7 +1143,7 @@ int commander_thread_main(int argc, char *argv[])
} else if (res == TRANSITION_DENIED) { } else if (res == TRANSITION_DENIED) {
warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); mavlink_log_critical(mavlink_fd, "#audio: ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
} }
/* fill current_status according to mode switches */ /* fill current_status according to mode switches */
@ -1159,12 +1159,12 @@ int commander_thread_main(int argc, char *argv[])
} else if (res == TRANSITION_DENIED) { } else if (res == TRANSITION_DENIED) {
/* DENIED here indicates bug in the commander */ /* DENIED here indicates bug in the commander */
warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); mavlink_log_critical(mavlink_fd, "#audio: ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
} }
} else { } else {
if (!status.rc_signal_lost) { if (!status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "[cmd] CRITICAL: RC SIGNAL LOST"); mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST");
status.rc_signal_lost = true; status.rc_signal_lost = true;
status_changed = true; status_changed = true;
} }
@ -1189,7 +1189,7 @@ int commander_thread_main(int argc, char *argv[])
if (res == TRANSITION_DENIED) { if (res == TRANSITION_DENIED) {
/* DENIED here indicates bug in the commander */ /* DENIED here indicates bug in the commander */
warnx("ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); warnx("ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state);
mavlink_log_critical(mavlink_fd, "[cmd] ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); mavlink_log_critical(mavlink_fd, "#audio: ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state);
} }
/* check which state machines for changes, clear "changed" flag */ /* check which state machines for changes, clear "changed" flag */
@ -1506,7 +1506,7 @@ print_reject_mode(const char *msg)
if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
last_print_mode_reject_time = t; last_print_mode_reject_time = t;
char s[80]; char s[80];
sprintf(s, "[cmd] WARNING: reject %s", msg); sprintf(s, "#audio: warning: reject %s", msg);
mavlink_log_critical(mavlink_fd, s); mavlink_log_critical(mavlink_fd, s);
tune_negative(); tune_negative();
} }
@ -1520,7 +1520,7 @@ print_reject_arm(const char *msg)
if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
last_print_mode_reject_time = t; last_print_mode_reject_time = t;
char s[80]; char s[80];
sprintf(s, "[cmd] %s", msg); sprintf(s, "#audio: %s", msg);
mavlink_log_critical(mavlink_fd, s); mavlink_log_critical(mavlink_fd, s);
tune_negative(); tune_negative();
} }
@ -1617,14 +1617,14 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
if (res == TRANSITION_CHANGED) { if (res == TRANSITION_CHANGED) {
if (control_mode->flag_control_position_enabled) { if (control_mode->flag_control_position_enabled) {
mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: POS HOLD"); mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: POS HOLD");
} else { } else {
if (status->condition_landed) { if (status->condition_landed) {
mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: ALT HOLD (LAND)"); mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: ALT HOLD (LAND)");
} else { } else {
mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: ALT HOLD"); mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: ALT HOLD");
} }
} }
} }
@ -1660,22 +1660,22 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
break; break;
case VEHICLE_CMD_RESULT_DENIED: case VEHICLE_CMD_RESULT_DENIED:
mavlink_log_critical(mavlink_fd, "[cmd] command denied: %u", cmd.command); mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd.command);
tune_negative(); tune_negative();
break; break;
case VEHICLE_CMD_RESULT_FAILED: case VEHICLE_CMD_RESULT_FAILED:
mavlink_log_critical(mavlink_fd, "[cmd] command failed: %u", cmd.command); mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd.command);
tune_negative(); tune_negative();
break; break;
case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED: case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
mavlink_log_critical(mavlink_fd, "[cmd] command temporarily rejected: %u", cmd.command); mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd.command);
tune_negative(); tune_negative();
break; break;
case VEHICLE_CMD_RESULT_UNSUPPORTED: case VEHICLE_CMD_RESULT_UNSUPPORTED:
mavlink_log_critical(mavlink_fd, "[cmd] command unsupported: %u", cmd.command); mavlink_log_critical(mavlink_fd, "#audio: command unsupported: %u", cmd.command);
tune_negative(); tune_negative();
break; break;
@ -1814,14 +1814,14 @@ void *commander_low_prio_loop(void *arg)
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
} else { } else {
mavlink_log_critical(mavlink_fd, "[cmd] parameters load ERROR"); mavlink_log_critical(mavlink_fd, "#audio: parameters load ERROR");
/* convenience as many parts of NuttX use negative errno */ /* convenience as many parts of NuttX use negative errno */
if (ret < 0) if (ret < 0)
ret = -ret; ret = -ret;
if (ret < 1000) if (ret < 1000)
mavlink_log_critical(mavlink_fd, "[cmd] %s", strerror(ret)); mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret));
answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
} }
@ -1834,14 +1834,14 @@ void *commander_low_prio_loop(void *arg)
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
} else { } else {
mavlink_log_critical(mavlink_fd, "[cmd] parameters save error"); mavlink_log_critical(mavlink_fd, "#audio: parameters save error");
/* convenience as many parts of NuttX use negative errno */ /* convenience as many parts of NuttX use negative errno */
if (ret < 0) if (ret < 0)
ret = -ret; ret = -ret;
if (ret < 1000) if (ret < 1000)
mavlink_log_critical(mavlink_fd, "[cmd] %s", strerror(ret)); mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret));
answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
} }