From 09c1202146f1df3a5e10feaf27b55807f3ff1e15 Mon Sep 17 00:00:00 2001 From: nagezeng Date: Sun, 3 Apr 2022 13:04:42 +0800 Subject: [PATCH] =?UTF-8?q?=E4=B8=80=E4=BA=9B=E6=B6=88=E6=81=AF=E6=8F=90?= =?UTF-8?q?=E7=A4=BA=E7=BF=BB=E8=AF=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ArduCopter/GCS_Mavlink.cpp | 3 +- libraries/AP_Arming/AP_Arming.cpp | 6 ++-- libraries/AP_GPS/AP_GPS_UBLOX.cpp | 20 ++++++------- libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp | 3 +- libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp | 2 +- .../AP_NavEKF2/AP_NavEKF2_Measurements.cpp | 3 +- .../AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp | 29 ++++++++++++------- libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp | 2 +- .../AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 3 +- 9 files changed, 43 insertions(+), 28 deletions(-) diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp index 95d107ee0d..70e120d0cd 100644 --- a/ArduCopter/GCS_Mavlink.cpp +++ b/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); diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp index 06718f6769..68bb19ea73 100644 --- a/libraries/AP_Arming/AP_Arming.cpp +++ b/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); diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp index 43e0b4c17e..3f2f956b43 100644 --- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp +++ b/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); } /* diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp index 4db442e0b1..7e4a70ebc6 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp +++ b/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 diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp index 43618e4650..dd4547d114 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp +++ b/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 diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp index d504e1d2f2..a58850f278 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp +++ b/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"); } } } diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp index 421b4fd288..6ce1b15812 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp +++ b/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; } diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp index 57c4931248..03c22b1010 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp +++ b/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 diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp index f77cf3ca4c..fdb5755140 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp +++ b/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"); } } }