一些消息提示翻译

ArduCopter/GCS_Mavlink.cpp

@@ -1316,7 +1316,8 @@ void Copter::mavlink_delay_cb()
     }
     if (tnow - last_5s > 5000) {
         last_5s = tnow;
-        gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
+        // gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
+        gcs().send_text(MAV_SEVERITY_INFO, "系统初始化中···");
     }
 
     logger.EnableWrites(true);

libraries/AP_Arming/AP_Arming.cpp

@@ -175,7 +175,8 @@ void AP_Arming::check_failed(const enum AP_Arming::ArmingChecks check, bool repo
         return;
     }
     char taggedfmt[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
-    hal.util->snprintf(taggedfmt, sizeof(taggedfmt), "PreArm: %s", fmt);
+    // hal.util->snprintf(taggedfmt, sizeof(taggedfmt), "PreArm: %s", fmt);
+    hal.util->snprintf(taggedfmt, sizeof(taggedfmt), "自检中: %s", fmt);
     MAV_SEVERITY severity = check_severity(check);
     va_list arg_list;
     va_start(arg_list, fmt);
@@ -189,7 +190,8 @@ void AP_Arming::check_failed(bool report, const char *fmt, ...) const
         return;
     }
     char taggedfmt[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
-    hal.util->snprintf(taggedfmt, sizeof(taggedfmt), "PreArm: %s", fmt);
+    // hal.util->snprintf(taggedfmt, sizeof(taggedfmt), "PreArm: %s", fmt);
+    hal.util->snprintf(taggedfmt, sizeof(taggedfmt), "自检中: %s", fmt);
     va_list arg_list;
     va_start(arg_list, fmt);
     gcs().send_textv(MAV_SEVERITY_CRITICAL, taggedfmt, arg_list);

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -948,13 +948,13 @@ AP_GPS_UBLOX::_parse_gps(void)
             break;
         case MSG_MON_VER:
             _have_version = true;
-            strncpy(_version.hwVersion, _buffer.mon_ver.hwVersion, sizeof(_version.hwVersion));
-            strncpy(_version.swVersion, _buffer.mon_ver.swVersion, sizeof(_version.swVersion));
-            GCS_SEND_TEXT(MAV_SEVERITY_INFO, 
-                                             "u-blox %d HW: %s SW: %s",
-                                             state.instance + 1,
-                                             _version.hwVersion,
-                                             _version.swVersion);
+            // strncpy(_version.hwVersion, _buffer.mon_ver.hwVersion, sizeof(_version.hwVersion));
+            // strncpy(_version.swVersion, _buffer.mon_ver.swVersion, sizeof(_version.swVersion));
+            // GCS_SEND_TEXT(MAV_SEVERITY_INFO, 
+            //                                  "u-blox %d HW: %s SW: %s",
+            //                                  state.instance + 1,
+            //                                  _version.hwVersion,
+            //                                  _version.swVersion);
             // check for F9. The F9 does not respond to SVINFO, so we need to use MON_VER
             // for hardware generation
             if (strncmp(_version.hwVersion, "00190000", 8) == 0) {
@@ -1453,9 +1453,9 @@ AP_GPS_UBLOX::_save_cfg()
     _send_message(CLASS_CFG, MSG_CFG_CFG, &save_cfg, sizeof(save_cfg));
     _last_cfg_sent_time = AP_HAL::millis();
     _num_cfg_save_tries++;
-    GCS_SEND_TEXT(MAV_SEVERITY_INFO,
-                                     "GPS: u-blox %d saving config",
-                                     state.instance + 1);
+    // GCS_SEND_TEXT(MAV_SEVERITY_INFO,
+    //                                  "GPS: u-blox %d saving config",
+    //                                  state.instance + 1);
 }
 
 /*

libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp

@@ -348,7 +348,8 @@ void NavEKF2_core::checkAttitudeAlignmentStatus()
     tiltErrFilt = alpha*temp + (1.0f-alpha)*tiltErrFilt;
     if (tiltErrFilt < 0.005f && !tiltAlignComplete) {
         tiltAlignComplete = true;
-        gcs().send_text(MAV_SEVERITY_INFO, "EKF2 IMU%u tilt alignment complete",(unsigned)imu_index);
+        // gcs().send_text(MAV_SEVERITY_INFO, "EKF2 IMU%u tilt alignment complete",(unsigned)imu_index);
+        gcs().send_text(MAV_SEVERITY_INFO, "EKF2 IMU%u收敛完成",(unsigned)imu_index);
     }
 
     // submit yaw and magnetic field reset requests depending on whether we have compass data

libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp

@@ -142,7 +142,7 @@ void NavEKF2_core::controlMagYawReset()
 
                 // send initial alignment status to console
                 if (!yawAlignComplete) {
-                    gcs().send_text(MAV_SEVERITY_INFO, "EKF2 IMU%u初始偏航校准完成",(unsigned)imu_index);//EKF2 IMU%u  initial yaw alignment complete
+                    gcs().send_text(MAV_SEVERITY_INFO, "EKF2 IMU%u偏航校准完成",(unsigned)imu_index);//EKF2 IMU%u  initial yaw alignment complete
                 }
 
                 // send in-flight yaw alignment status to console

libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp

@@ -603,7 +603,8 @@ void NavEKF2_core::readGpsData()
         } else {
             // report GPS fix status
             gpsCheckStatus.bad_fix = true;
-            hal.util->snprintf(prearm_fail_string, sizeof(prearm_fail_string), "Waiting for 3D fix");
+            // hal.util->snprintf(prearm_fail_string, sizeof(prearm_fail_string), "Waiting for 3D fix");
+            hal.util->snprintf(prearm_fail_string, sizeof(prearm_fail_string), "等待卫星定位");
         }
     }
 }

libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp

@@ -79,7 +79,8 @@ void NavEKF2_core::calcGpsGoodToAlign(void)
     if (gpsDriftFail) {
         hal.util->snprintf(prearm_fail_string,
                            sizeof(prearm_fail_string),
-                           "GPS drift %.1fm (needs %.1f)", (double)gpsDriftNE, (double)(3.0f*checkScaler));
+                           "GNSS定位飘移 %.1fm (需小于 %.1f)", (double)gpsDriftNE, (double)(3.0f*checkScaler));
+                        //    "GPS drift %.1fm (needs %.1f)", (double)gpsDriftNE, (double)(3.0f*checkScaler));
         gpsCheckStatus.bad_horiz_drift = true;
     } else {
         gpsCheckStatus.bad_horiz_drift = false;
@@ -110,7 +111,8 @@ void NavEKF2_core::calcGpsGoodToAlign(void)
     if (gpsVertVelFail) {
         hal.util->snprintf(prearm_fail_string,
                            sizeof(prearm_fail_string),
-                           "GPS vertical speed %.2fm/s (needs %.2f)", (double)fabsf(gpsVertVelFilt), (double)(0.3f*checkScaler));
+                           "GNSS垂直速度过大 %.2fm/s (需小于 %.2f)", (double)fabsf(gpsVertVelFilt), (double)(0.3f*checkScaler));
+                        //    "GPS vertical speed %.2fm/s (needs %.2f)", (double)fabsf(gpsVertVelFilt), (double)(0.3f*checkScaler));
         gpsCheckStatus.bad_vert_vel = true;
     } else {
         gpsCheckStatus.bad_vert_vel = false;
@@ -131,7 +133,8 @@ void NavEKF2_core::calcGpsGoodToAlign(void)
     if (gpsHorizVelFail) {
         hal.util->snprintf(prearm_fail_string,
                            sizeof(prearm_fail_string),
-                           "GPS horizontal speed %.2fm/s (needs %.2f)", (double)gpsDriftNE, (double)(0.3f*checkScaler));
+                           "GNSS水平速度过大 %.2fm/s (需小于 %.2f)", (double)gpsDriftNE, (double)(0.3f*checkScaler));
+                        //    "GPS horizontal speed %.2fm/s (needs %.2f)", (double)gpsDriftNE, (double)(0.3f*checkScaler));
         gpsCheckStatus.bad_horiz_vel = true;
     } else {
         gpsCheckStatus.bad_horiz_vel = false;
@@ -150,7 +153,8 @@ void NavEKF2_core::calcGpsGoodToAlign(void)
     if (hAccFail) {
         hal.util->snprintf(prearm_fail_string,
                            sizeof(prearm_fail_string),
-                           "GPS horiz error %.1fm (needs %.1f)", (double)hAcc, (double)(5.0f*checkScaler));
+                           "GNSS水平定位差值过大 %.1fm (需小于 %.1f)", (double)hAcc, (double)(5.0f*checkScaler));
+                        //    "GPS horiz error %.1fm (needs %.1f)", (double)hAcc, (double)(5.0f*checkScaler));
         gpsCheckStatus.bad_hAcc = true;
     } else {
         gpsCheckStatus.bad_hAcc = false;
@@ -166,7 +170,8 @@ void NavEKF2_core::calcGpsGoodToAlign(void)
     if (vAccFail) {
         hal.util->snprintf(prearm_fail_string,
                            sizeof(prearm_fail_string),
-                           "GPS vert error %.1fm (needs < %.1f)", (double)vAcc, (double)(7.5f * checkScaler));
+                           "GNSS垂直定位差值过大 %.1fm (需小于 < %.1f)", (double)vAcc, (double)(7.5f * checkScaler));
+                        //    "GPS vert error %.1fm (needs < %.1f)", (double)vAcc, (double)(7.5f * checkScaler));
         gpsCheckStatus.bad_vAcc = true;
     } else {
         gpsCheckStatus.bad_vAcc = false;
@@ -179,7 +184,8 @@ void NavEKF2_core::calcGpsGoodToAlign(void)
     if (gpsSpdAccFail) {
         hal.util->snprintf(prearm_fail_string,
                            sizeof(prearm_fail_string),
-                           "GPS speed error %.1f (needs < %.1f)", (double)gpsSpdAccuracy, (double)(1.0f*checkScaler));
+                           "GNSS速度差值过大 %.1f (需小于 < %.1f)", (double)gpsSpdAccuracy, (double)(1.0f*checkScaler));
+                        //    "GPS speed error %.1f (needs < %.1f)", (double)gpsSpdAccuracy, (double)(1.0f*checkScaler));
         gpsCheckStatus.bad_sAcc = true;
     } else {
         gpsCheckStatus.bad_sAcc = false;
@@ -191,19 +197,21 @@ void NavEKF2_core::calcGpsGoodToAlign(void)
     // Report check result as a text string and bitmask
     if (hdopFail) {
         hal.util->snprintf(prearm_fail_string, sizeof(prearm_fail_string),
-                           "GPS HDOP %.1f (needs 2.5)", (double)(0.01f * gps.get_hdop()));
+                           "GNSS HDOP %.1f (需小于 2.5)", (double)(0.01f * gps.get_hdop()));
+                        //    "GPS HDOP %.1f (needs 2.5)", (double)(0.01f * gps.get_hdop()));
         gpsCheckStatus.bad_hdop = true;
     } else {
         gpsCheckStatus.bad_hdop = false;
     }
 
     // fail if not enough sats
-    bool numSatsFail = (gps.num_sats() < 6) && (frontend->_gpsCheck & MASK_GPS_NSATS);
+    bool numSatsFail = (gps.num_sats() < 9) && (frontend->_gpsCheck & MASK_GPS_NSATS);
 
     // Report check result as a text string and bitmask
     if (numSatsFail) {
         hal.util->snprintf(prearm_fail_string, sizeof(prearm_fail_string),
-                           "GPS numsats %u (needs 6)", gps.num_sats());
+                           "GNSS卫星数 %u (需大于 9)", gps.num_sats());
+                        //    "GPS numsats %u (needs 6)", gps.num_sats());
         gpsCheckStatus.bad_sats = true;
     } else {
         gpsCheckStatus.bad_sats = false;
@@ -232,7 +240,8 @@ void NavEKF2_core::calcGpsGoodToAlign(void)
 
     // assume failed first time through and notify user checks have started
     if (lastGpsVelFail_ms == 0) {
-        hal.util->snprintf(prearm_fail_string, sizeof(prearm_fail_string), "EKF starting GPS checks");
+        hal.util->snprintf(prearm_fail_string, sizeof(prearm_fail_string), "EKF开始GNSS检查");
+        // hal.util->snprintf(prearm_fail_string, sizeof(prearm_fail_string), "EKF starting GPS checks");
         lastGpsVelFail_ms = imuSampleTime_ms;
     }
 

libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp

@@ -117,7 +117,7 @@ void NavEKF3_core::controlMagYawReset()
 
             // send initial alignment status to console
             if (!yawAlignComplete) {
-                gcs().send_text(MAV_SEVERITY_INFO, "EKF3 IMU%u 初始偏航校准完成",(unsigned)imu_index); //EKF3 IMU%u initial yaw alignment complete
+                gcs().send_text(MAV_SEVERITY_INFO, "EKF3 IMU%u偏航校准完成",(unsigned)imu_index); //EKF3 IMU%u initial yaw alignment complete
             }
 
             // send in-flight yaw alignment status to console

libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp

@@ -646,7 +646,8 @@ void NavEKF3_core::readGpsData()
         } else {
             // report GPS fix status
             gpsCheckStatus.bad_fix = true;
-            hal.util->snprintf(prearm_fail_string, sizeof(prearm_fail_string), "Waiting for 3D fix");
+            // hal.util->snprintf(prearm_fail_string, sizeof(prearm_fail_string), "Waiting for 3D fix");
+            hal.util->snprintf(prearm_fail_string, sizeof(prearm_fail_string), "等待卫星定位");
         }
     }
 }