AP_NavEKF2: change priority of statustext messages

libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp

@@ -239,7 +239,7 @@ void NavEKF2_core::setAidingMode()
             stateStruct.position.z = -meaHgtAtTakeOff;
         } else if (PV_AidingMode == AID_RELATIVE) {
             // We have commenced aiding, but GPS usage has been prohibited so use optical flow only
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "EKF2 IMU%u is using optical flow",(unsigned)imu_index);
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "EKF2 IMU%u is using optical flow",(unsigned)imu_index);
             posTimeout = true;
             velTimeout = true;
             // Reset the last valid flow measurement time
@@ -248,7 +248,7 @@ void NavEKF2_core::setAidingMode()
             prevFlowFuseTime_ms = imuSampleTime_ms;
         } else if (PV_AidingMode == AID_ABSOLUTE) {
             // We have commenced aiding and GPS usage is allowed
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "EKF2 IMU%u is using GPS",(unsigned)imu_index);
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "EKF2 IMU%u is using GPS",(unsigned)imu_index);
             posTimeout = false;
             velTimeout = false;
             // we need to reset the GPS timers to prevent GPS timeout logic being invoked on entry into GPS aiding
@@ -277,7 +277,7 @@ void NavEKF2_core::checkAttitudeAlignmentStatus()
     tiltErrFilt = alpha*temp + (1.0f-alpha)*tiltErrFilt;
     if (tiltErrFilt < 0.005f && !tiltAlignComplete) {
         tiltAlignComplete = true;
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "EKF2 IMU%u tilt alignment complete",(unsigned)imu_index);
+        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "EKF2 IMU%u tilt alignment complete",(unsigned)imu_index);
     }
 
     // submit yaw and magnetic field reset requests depending on whether we have compass data
@@ -353,7 +353,7 @@ void NavEKF2_core::setOrigin()
     // define Earth rotation vector in the NED navigation frame at the origin
     calcEarthRateNED(earthRateNED, _ahrs->get_home().lat);
     validOrigin = true;
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "EKF2 IMU%u Origin Set",(unsigned)imu_index);
+    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "EKF2 IMU%u Origin Set",(unsigned)imu_index);
 }
 
 // record a yaw reset event

libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp

@@ -113,12 +113,12 @@ void NavEKF2_core::controlMagYawReset()
 
             // send initial alignment status to console
             if (!yawAlignComplete) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "EKF2 IMU%u initial yaw alignment complete",(unsigned)imu_index);
+                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "EKF2 IMU%u initial yaw alignment complete",(unsigned)imu_index);
             }
 
             // send in-flight yaw alignment status to console
             if (finalResetRequest) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "EKF2 IMU%u in-flight yaw alignment complete",(unsigned)imu_index);
+                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "EKF2 IMU%u in-flight yaw alignment complete",(unsigned)imu_index);
             } else if (interimResetRequest) {
                 GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "EKF2 IMU%u ground mag anomaly, yaw re-aligned",(unsigned)imu_index);
             }
@@ -170,7 +170,7 @@ void NavEKF2_core::realignYawGPS()
             ResetPosition();
 
             // send yaw alignment information to console
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "EKF2 IMU%u yaw aligned to GPS velocity",(unsigned)imu_index);
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "EKF2 IMU%u yaw aligned to GPS velocity",(unsigned)imu_index);
 
             // zero the attitude covariances becasue the corelations will now be invalid
             zeroAttCovOnly();