Rover: update severity values

APMrover2/GCS_Mavlink.cpp

@@ -865,7 +865,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             uint8_t result = MAV_RESULT_UNSUPPORTED;
 
             // do command
-            send_text_P(SEVERITY_LOW,PSTR("command received: "));
+            send_text_P(MAV_SEVERITY_WARNING,PSTR("command received: "));
 
             switch(packet.command) {
 
@@ -950,7 +950,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                     }
                 }
                 else {
-                    send_text_P(SEVERITY_LOW, PSTR("Unsupported preflight calibration"));
+                    send_text_P(MAV_SEVERITY_WARNING, PSTR("Unsupported preflight calibration"));
                 }
                 break;
 
@@ -1076,10 +1076,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
         {
             // mark the firmware version in the tlog
-            send_text_P(SEVERITY_LOW, PSTR(FIRMWARE_STRING));
+            send_text_P(MAV_SEVERITY_WARNING, PSTR(FIRMWARE_STRING));
 
 #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
-            send_text_P(SEVERITY_LOW, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
+            send_text_P(MAV_SEVERITY_WARNING, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
 #endif
             handle_param_request_list(msg);
             break;
@@ -1301,7 +1301,7 @@ void Rover::mavlink_delay_cb()
     }
     if (tnow - last_5s > 5000) {
         last_5s = tnow;
-        gcs_send_text_P(SEVERITY_LOW, PSTR("Initialising APM..."));
+        gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Initialising APM..."));
     }
     check_usb_mux();
 
@@ -1361,7 +1361,7 @@ void Rover::gcs_update(void)
     }
 }
 
-void Rover::gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
+void Rover::gcs_send_text_P(MAV_SEVERITY severity, const prog_char_t *str)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
@@ -1381,7 +1381,7 @@ void Rover::gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
 void Rover::gcs_send_text_fmt(const prog_char_t *fmt, ...)
 {
     va_list arg_list;
-    gcs[0].pending_status.severity = (uint8_t)SEVERITY_LOW;
+    gcs[0].pending_status.severity = (uint8_t)MAV_SEVERITY_WARNING;
     va_start(arg_list, fmt);
     hal.util->vsnprintf_P((char *)gcs[0].pending_status.text,
             sizeof(gcs[0].pending_status.text), fmt, arg_list);

APMrover2/Log.cpp

@@ -396,10 +396,10 @@ void Rover::log_init(void)
 {
 	DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
     if (!DataFlash.CardInserted()) {
-        gcs_send_text_P(SEVERITY_LOW, PSTR("No dataflash card inserted"));
+        gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("No dataflash card inserted"));
         g.log_bitmask.set(0);
     } else if (DataFlash.NeedErase()) {
-        gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
+        gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("ERASING LOGS"));
 		do_erase_logs();
     }
 	if (g.log_bitmask != 0) {

APMrover2/Rover.h

@@ -400,7 +400,7 @@ private:
     void gcs_send_mission_item_reached_message(uint16_t mission_index);
     void gcs_data_stream_send(void);
     void gcs_update(void);
-    void gcs_send_text_P(gcs_severity severity, const prog_char_t *str);
+    void gcs_send_text_P(MAV_SEVERITY severity, const prog_char_t *str);
     void gcs_retry_deferred(void);
     void do_erase_logs(void);
     void Log_Write_Performance();

APMrover2/Steering.cpp

@@ -31,7 +31,7 @@ bool Rover::auto_check_trigger(void)
 
     // check for user pressing the auto trigger to off
     if (auto_triggered && g.auto_trigger_pin != -1 && check_digital_pin(g.auto_trigger_pin) == 1) {
-        gcs_send_text_P(SEVERITY_LOW, PSTR("AUTO triggered off"));
+        gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("AUTO triggered off"));
         auto_triggered = false;
         return false; 
     }
@@ -49,7 +49,7 @@ bool Rover::auto_check_trigger(void)
     }
  
     if (g.auto_trigger_pin != -1 && check_digital_pin(g.auto_trigger_pin) == 0) {
-        gcs_send_text_P(SEVERITY_LOW, PSTR("Triggered AUTO with pin"));
+        gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Triggered AUTO with pin"));
         auto_triggered = true;
         return true;            
     }

APMrover2/commands.cpp

@@ -30,7 +30,7 @@ void Rover::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, next_WP)) {
-        gcs_send_text_P(SEVERITY_LOW, PSTR("Resetting prev_WP"));
+        gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Resetting prev_WP"));
         prev_WP = current_loc;
     }
 
@@ -63,7 +63,7 @@ void Rover::init_home()
         return;
     }
 
-	gcs_send_text_P(SEVERITY_LOW, PSTR("init home"));
+	gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("init home"));
 
     ahrs.set_home(gps.location());
 	home_is_set = true;

APMrover2/commands_logic.cpp

@@ -164,7 +164,7 @@ bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
                 // this is a command that doesn't require verify
                 return true;
             }
-            gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Unsupported command"));
+            gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("verify_conditon: Unsupported command"));
             return true;
 	}
     return false;
@@ -248,7 +248,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
 bool Rover::verify_RTL()
 {
 	if (wp_distance <= g.waypoint_radius) {
-		gcs_send_text_P(SEVERITY_LOW,PSTR("Reached Destination"));
+		gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("Reached Destination"));
                 rtl_complete = true;
 		return true;
 	}

APMrover2/navigation.cpp

@@ -22,7 +22,7 @@ void Rover::navigate()
 	wp_distance = get_distance(current_loc, next_WP);
 
 	if (wp_distance < 0){
-		gcs_send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
+		gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("<navigate> WP error - distance < 0"));
 		return;
 	}
 

APMrover2/sensors.cpp

@@ -4,9 +4,9 @@
 
 void Rover::init_barometer(void)
 {
-    gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));    
+    gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Calibrating barometer"));    
     barometer.calibrate();
-    gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
+    gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("barometer calibration complete"));
 }
 
 void Rover::init_sonar(void)

APMrover2/system.cpp

@@ -229,10 +229,10 @@ void Rover::startup_ground(void)
 {
     set_mode(INITIALISING);
 
-	gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));
+	gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("<startup_ground> GROUND START"));
 
 	#if(GROUND_START_DELAY > 0)
-		gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> With Delay"));
+		gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("<startup_ground> With Delay"));
 		delay(GROUND_START_DELAY * 1000);
 	#endif
 
@@ -256,7 +256,7 @@ void Rover::startup_ground(void)
     ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
     ins.set_dataflash(&DataFlash);
 
-	gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to drive."));
+	gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("\n\n Ready to drive."));
 }
 
 /*
@@ -394,12 +394,12 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
 
 void Rover::startup_INS_ground(void)
 {
-    gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
+    gcs_send_text_P(MAV_SEVERITY_ALERT, PSTR("Warming up ADC..."));
  	mavlink_delay(500);
 
 	// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
 	// -----------------------
-    gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning INS calibration; do not move vehicle"));
+    gcs_send_text_P(MAV_SEVERITY_ALERT, PSTR("Beginning INS calibration; do not move vehicle"));
 	mavlink_delay(1000);
 
     ahrs.init();