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

commander: improve failsafe messaging 

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli 2024-03-18 19:16:40 +01:00
parent 32aa3263a6
commit 3328f77ebf
2 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp
View File

@ -51,7 +51,7 @@ void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporte
if (!reporter.failsafeFlags().manual_control_signal_lost && _last_valid_manual_control_setpoint > 0) {
events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info},
events::send(events::ID("commander_rc_lost"), {events::Log::Info, events::LogInternal::Info},
"Manual control lost");
}

16
src/modules/commander/failsafe/framework.cpp
View File

@ -195,7 +195,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
events::send<uint32_t, events::px4::enums::failsafe_action_t, uint16_t>(
events::ID("commander_failsafe_enter_generic_hold"),
{events::Log::Critical, events::LogInternal::Warning},
"Failsafe, triggering {2} in {3} seconds", mavlink_mode, failsafe_action,
"Failsafe activated: switching to {2} in {3} seconds", mavlink_mode, failsafe_action,
(uint16_t) delay_s);
} else {
@ -204,11 +204,11 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
events::send<uint32_t, events::px4::enums::failsafe_action_t, uint16_t, events::px4::enums::failsafe_cause_t>(
events::ID("commander_failsafe_enter_hold"),
{events::Log::Critical, events::LogInternal::Warning},
"{4}, triggering {2} in {3} seconds", mavlink_mode, failsafe_action,
"{4}: switching to {2} in {3} seconds", mavlink_mode, failsafe_action,
(uint16_t) delay_s, failsafe_cause);
}
mavlink_log_critical(&_mavlink_log_pub, "Failsafe activated, entering Hold for %i seconds\t", delay_s);
mavlink_log_critical(&_mavlink_log_pub, "Failsafe activated: entering Hold for %i seconds\t", delay_s);
} else { // no delay
failsafe_action_t failsafe_action = (failsafe_action_t)action;
@ -222,16 +222,16 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
events::send<uint32_t>(
events::ID("commander_failsafe_enter_generic_warn"),
{events::Log::Warning, events::LogInternal::Warning},
"Failsafe warning triggered", mavlink_mode);
"Failsafe warning:", mavlink_mode);
} else {
/* EVENT
* @type append_health_and_arming_messages
*/
events::send<uint32_t, events::px4::enums::failsafe_action_t>(
events::send<uint32_t>(
events::ID("commander_failsafe_enter_generic"),
{events::Log::Critical, events::LogInternal::Warning},
"Failsafe, triggering {2}", mavlink_mode, failsafe_action);
"Failsafe activated: Autopilot disengaged", mavlink_mode);
}
} else {
@ -262,7 +262,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
events::send<uint32_t, events::px4::enums::failsafe_cause_t>(
events::ID("commander_failsafe_enter_warn"),
{events::Log::Warning, events::LogInternal::Warning},
"Failsafe warning triggered due to {2}", mavlink_mode, failsafe_cause);
"Failsafe warning: {2}", mavlink_mode, failsafe_cause);
}
@ -272,7 +272,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
events::send<uint32_t, events::px4::enums::failsafe_action_t, events::px4::enums::failsafe_cause_t>(
events::ID("commander_failsafe_enter"),
{events::Log::Critical, events::LogInternal::Warning},
"{3}, triggering {2}", mavlink_mode, failsafe_action, failsafe_cause);
"{3}: switching to {2}", mavlink_mode, failsafe_action, failsafe_cause);
}
}