From 13ff67c6c0c4aa392c295f571d446fe8ffc01780 Mon Sep 17 00:00:00 2001 From: yaozb Date: Thu, 6 Aug 2020 15:22:59 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B6=88=E6=81=AF=E6=B1=89=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ArduCopter/AP_Arming.cpp | 67 +++++++------- ArduCopter/GCS_Mavlink.cpp | 2 +- ArduCopter/compassmot.cpp | 12 +-- ArduCopter/crash_check.cpp | 4 +- ArduCopter/ekf_check.cpp | 6 +- ArduCopter/esc_calibration.cpp | 2 +- ArduCopter/events.cpp | 6 +- ArduCopter/mode.cpp | 10 +-- ArduCopter/mode_auto.cpp | 2 +- ArduCopter/mode_land.cpp | 2 +- ArduCopter/mode_rtl.cpp | 2 +- ArduPlane/AP_Arming.cpp | 4 +- libraries/AP_Arming/AP_Arming.cpp | 90 +++++++++---------- libraries/AP_BattMonitor/AP_BattMonitor.cpp | 6 +- .../AP_BattMonitor/AP_BattMonitor_Backend.cpp | 16 ++-- .../AP_Compass/AP_Compass_Calibration.cpp | 2 +- libraries/AP_Compass/CompassCalibrator.cpp | 6 +- libraries/AP_Landing/AP_Landing.cpp | 4 +- libraries/AP_Logger/AP_Logger_File.cpp | 2 +- libraries/AP_Mission/AP_Mission.cpp | 4 +- libraries/AP_Motors/AP_MotorsHeli_Quad.cpp | 2 +- libraries/AP_Motors/AP_MotorsTri.cpp | 2 +- libraries/AP_Motors/AP_Motors_Class.cpp | 2 +- libraries/AP_NavEKF2/AP_NavEKF2.cpp | 4 +- libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp | 2 +- libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp | 6 +- libraries/AP_NavEKF2/AP_NavEKF2_core.cpp | 2 +- libraries/AP_NavEKF3/AP_NavEKF3.cpp | 4 +- libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp | 6 +- .../AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp | 2 +- libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 6 +- libraries/AP_Scripting/AP_Scripting.cpp | 8 +- libraries/AP_Terrain/AP_Terrain.cpp | 2 +- libraries/AP_UAVCAN/AP_UAVCAN_Server.cpp | 2 +- libraries/GCS_MAVLink/GCS_Param.cpp | 2 +- libraries/GCS_MAVLink/GCS_Rally.cpp | 2 +- libraries/GCS_MAVLink/GCS_Signing.cpp | 4 +- libraries/GCS_MAVLink/MissionItemProtocol.cpp | 4 +- .../MissionItemProtocol_Waypoints.cpp | 2 +- libraries/RC_Channel/RC_Channel.cpp | 2 +- 40 files changed, 157 insertions(+), 158 deletions(-) diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp index c6fd5f5936..0fe7199405 100644 --- a/ArduCopter/AP_Arming.cpp +++ b/ArduCopter/AP_Arming.cpp @@ -79,7 +79,7 @@ bool AP_Arming_Copter::barometer_checks(bool display_failure) bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs); if (using_baro_ref) { if (fabsf(copter.inertial_nav.get_altitude() - copter.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) { - check_failed(ARMING_CHECK_BARO, display_failure, "Altitude disparity"); + check_failed(ARMING_CHECK_BARO, display_failure, "高度差异");//Altitude disparity ret = false; } } @@ -95,7 +95,7 @@ bool AP_Arming_Copter::compass_checks(bool display_failure) // check compass offsets have been set. AP_Arming only checks // this if learning is off; Copter *always* checks. if (!AP::compass().configured()) { - check_failed(ARMING_CHECK_COMPASS, display_failure, "Compass not calibrated"); + check_failed(ARMING_CHECK_COMPASS, display_failure, "指南针未校准");//Compass not calibrated ret = false; } } @@ -111,7 +111,7 @@ bool AP_Arming_Copter::ins_checks(bool display_failure) // get ekf attitude (if bad, it's usually the gyro biases) if (!pre_arm_ekf_attitude_check()) { - check_failed(ARMING_CHECK_INS, display_failure, "EKF attitude is bad"); + check_failed(ARMING_CHECK_INS, display_failure, "EKF姿态不好");//EKF attitude is bad ret = false; } } @@ -128,7 +128,7 @@ bool AP_Arming_Copter::board_voltage_checks(bool display_failure) // check battery voltage if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) { if (copter.battery.has_failsafed()) { - check_failed(ARMING_CHECK_VOLTAGE, display_failure, "Battery failsafe"); + check_failed(ARMING_CHECK_VOLTAGE, display_failure, "电池故障保护"); // return false; } @@ -148,7 +148,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure) // ensure all rc channels have different functions if (rc().duplicate_options_exist()) { - check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Duplicate Aux Switch Options"); + check_failed(ARMING_CHECK_PARAMETERS, display_failure, "辅助开关选项重复");//Duplicate Aux Switch Options return false; } @@ -156,14 +156,14 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure) if (copter.g.failsafe_throttle) { // check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900 if (copter.channel_throttle->get_radio_min() <= copter.g.failsafe_throttle_value+10 || copter.g.failsafe_throttle_value < 910) { - check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check FS_THR_VALUE"); + check_failed(ARMING_CHECK_PARAMETERS, display_failure, "检查参数 FS_THR_VALUE");//Check FS_THR_VALUE return false; } } // lean angle parameter check if (copter.aparm.angle_max < 1000 || copter.aparm.angle_max > 8000) { - check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check ANGLE_MAX"); + check_failed(ARMING_CHECK_PARAMETERS, display_failure, "检查参数 ANGLE_MAX");//Check ANGLE_MAX return false; } @@ -177,7 +177,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure) // pilot-speed-up parameter check if (copter.g.pilot_speed_up <= 0) { - check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check PILOT_SPEED_UP"); + check_failed(ARMING_CHECK_PARAMETERS, display_failure, "检查参数 PILOT_SPEED_UP");//Check PILOT_SPEED_UP return false; } @@ -185,7 +185,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure) if (copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD && copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_DUAL && copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI) { - check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Invalid Heli FRAME_CLASS"); + check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Invalid Heli FRAME_CLASS"); return false; } @@ -218,7 +218,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure) if (copter.g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI_QUAD || copter.g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI_DUAL || copter.g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI) { - check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Invalid MultiCopter FRAME_CLASS"); + check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Invalid MultiCopter FRAME_CLASS"); return false; } #endif // HELI_FRAME @@ -293,9 +293,9 @@ bool AP_Arming_Copter::pilot_throttle_checks(bool display_failure) #if FRAME_CONFIG == HELI_FRAME const char *failmsg = "Collective below Failsafe"; #else - const char *failmsg = "Throttle below Failsafe"; + const char *failmsg = "油门低于故障安全值";//Throttle below Failsafe #endif - check_failed(ARMING_CHECK_RC, display_failure, "%s", failmsg); + check_failed(ARMING_CHECK_RC, display_failure, "%s", failmsg); return false; } } @@ -312,7 +312,7 @@ bool AP_Arming_Copter::oa_checks(bool display_failure) } // display failure if (strlen(failure_msg) == 0) { - check_failed(display_failure, "%s", "Check Object Avoidance"); + check_failed(display_failure, "%s", "Check Object Avoidance"); //Check Object Avoidance } else { check_failed(display_failure, "%s", failure_msg); } @@ -370,7 +370,7 @@ bool AP_Arming_Copter::gps_checks(bool display_failure) // warn about hdop separately - to prevent user confusion with no gps lock if (copter.gps.get_hdop() > copter.g.gps_hdop_good) { - check_failed(ARMING_CHECK_GPS, display_failure, "High GPS HDOP %d (need %d)",copter.gps.get_hdop(),copter.g.gps_hdop_good); + check_failed(ARMING_CHECK_GPS, display_failure, " GPS HDOP过高%d(需要%d)",copter.gps.get_hdop(),copter.g.gps_hdop_good); //High GPS HDOP AP_Notify::flags.pre_arm_gps_check = false; return false; } @@ -408,7 +408,7 @@ bool AP_Arming_Copter::pre_arm_terrain_check(bool display_failure) // To-Do: modify RTL return path to fly at or above the RTL_ALT and remove this check if (copter.rangefinder_state.enabled && (copter.g.rtl_altitude > copter.rangefinder.max_distance_cm_orient(ROTATION_PITCH_270))) { - check_failed(ARMING_CHECK_PARAMETERS, display_failure, "RTL_ALT above rangefinder max range"); + check_failed(ARMING_CHECK_PARAMETERS, display_failure, "返回高度参数大于测距传感器最大范围");//RTL_ALT above rangefinder max range return false; } @@ -417,7 +417,7 @@ bool AP_Arming_Copter::pre_arm_terrain_check(bool display_failure) copter.terrain.get_statistics(terr_pending, terr_loaded); bool have_all_data = (terr_pending <= 0); if (!have_all_data) { - check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Waiting for Terrain data"); + check_failed(ARMING_CHECK_PARAMETERS, display_failure, "等待地形数据");//Waiting for Terrain data } return have_all_data; #else @@ -445,7 +445,7 @@ bool AP_Arming_Copter::proximity_checks(bool display_failure) const if (copter.avoid.proximity_avoidance_enabled() && copter.g2.proximity.get_closest_object(angle_deg, distance)) { // display error if something is within 60cm if (distance <= 0.6f) { - check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Proximity %d deg, %4.2fm", (int)angle_deg, (double)distance); + check_failed(ARMING_CHECK_PARAMETERS, display_failure, "障碍物过近，距离：%4.2f米",(double)distance);//Proximity %d deg, %4.2fm //(int)angle_deg, return false; } } @@ -514,9 +514,9 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure) if (reason == nullptr) { if (!mode_requires_gps && fence_requires_gps) { // clarify to user why they need GPS in non-GPS flight mode - reason = "Fence enabled, need 3D Fix"; + reason = "地理围栏启动，需卫星定位"; //ence enabled, need 3D Fix } else { - reason = "Need 3D Fix"; + reason = "GPS定位中..."; //need 3D Fix } } check_failed(display_failure, "%s", reason); @@ -531,7 +531,7 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure) nav_filter_status filt_status; if (ahrs.get_filter_status(filt_status)) { if (filt_status.flags.gps_glitching) { - check_failed(display_failure, "GPS glitching"); + check_failed(display_failure, "GPS故障"); //GPS glitching return false; } } @@ -542,13 +542,13 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure) Vector2f offset; ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset); if (copter.g.fs_ekf_thresh > 0 && mag_variance.length() >= copter.g.fs_ekf_thresh) { - check_failed(display_failure, "EKF compass variance"); + check_failed(display_failure, "EKF指南针偏差");// return false; } // check home and EKF origin are not too far if (copter.far_from_EKF_origin(ahrs.get_home())) { - check_failed(display_failure, "EKF-home variance"); + check_failed(display_failure, "EKF-返航点偏差"); return false; } @@ -571,7 +571,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method) // always check if inertial nav has started and is ready if (!ahrs.healthy()) { - check_failed(true, "AHRS not healthy"); + check_failed(true, "姿态不健康");//AHRS not healthy return false; } @@ -581,7 +581,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method) const Compass &_compass = AP::compass(); // check compass health if (!_compass.healthy()) { - check_failed(true, "Compass not healthy"); + check_failed(true, "指南针不健康");//Compass not healthy return false; } } @@ -591,7 +591,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method) // always check if the current mode allows arming if (!copter.flightmode->allows_arming(method == AP_Arming::Method::MAVLINK)) { - check_failed(true, "Mode not armable"); + check_failed(true, "当前模式不能解锁");//Mode not armable return false; } @@ -599,7 +599,6 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method) if (!motor_checks(true)) { return false; } - // if we are using motor interlock switch and it's enabled, fail to arm // skip check in Throw mode which takes control of the motor interlock if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) { @@ -613,7 +612,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method) SRV_Channels::set_emergency_stop(false); // if we are using motor Estop switch, it must not be in Estop position } else if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP) && SRV_Channels::get_emergency_stop()){ - gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped"); + gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm:电机紧急停止");//Arm: Motor Emergency Stopped return false; } @@ -645,11 +644,11 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method) #if FRAME_CONFIG == HELI_FRAME const char *rc_item = "Collective"; #else - const char *rc_item = "Throttle"; + const char *rc_item = "油门"; //Throttle #endif // check throttle is not too low - must be above failsafe throttle if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) { - check_failed(ARMING_CHECK_RC, true, "%s below failsafe", rc_item); + check_failed(ARMING_CHECK_RC, true, "%s低于故障保护值", rc_item);//%s below failsafe return false; } @@ -657,13 +656,13 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method) if (!(method == AP_Arming::Method::MAVLINK && (control_mode == Mode::Number::GUIDED || control_mode == Mode::Number::GUIDED_NOGPS))) { // above top of deadband is too always high if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) { - check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item); + check_failed(ARMING_CHECK_RC, true, "%s过高", rc_item);//%s too high return false; } // in manual modes throttle must be at zero #if FRAME_CONFIG != HELI_FRAME if ((copter.flightmode->has_manual_throttle() || control_mode == Mode::Number::DRIFT) && copter.channel_throttle->get_control_in() > 0) { - check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item); + check_failed(ARMING_CHECK_RC, true, "%s过高", rc_item);//%s too high return false; } #endif @@ -672,7 +671,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method) // check if safety switch has been pushed if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) { - check_failed(true, "Safety Switch"); + check_failed(true, "安全开关");//Safety Switch return false; } @@ -733,7 +732,7 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_ } #if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL - gcs().send_text(MAV_SEVERITY_INFO, "Arming motors"); + gcs().send_text(MAV_SEVERITY_INFO, "解锁电机");//Arming motors #endif // Remember Orientation @@ -822,7 +821,7 @@ bool AP_Arming_Copter::disarm() } #if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL - gcs().send_text(MAV_SEVERITY_INFO, "NOTICE: Disarming motors"); + gcs().send_text(MAV_SEVERITY_INFO, "NOTICE: 电机锁定");//NOTICE: Disarming motors #endif AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf(); diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp index be67766860..973cab218e 100644 --- a/ArduCopter/GCS_Mavlink.cpp +++ b/ArduCopter/GCS_Mavlink.cpp @@ -569,7 +569,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_preflight_reboot(const mavlink_command_lon { // reject reboot if user has also specified they want the "Auto" ESC calibration on next reboot if (copter.g.esc_calibrate == (uint8_t)Copter::ESCCalibrationModes::ESCCAL_AUTO) { - send_text(MAV_SEVERITY_CRITICAL, "Reboot rejected, ESC cal on reboot"); + send_text(MAV_SEVERITY_CRITICAL, "重启被拒绝，重启时可进行电调校准");//Reboot rejected, ESC cal on reboot return MAV_RESULT_FAILED; } diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp index 8795e83f45..37002e56fe 100644 --- a/ArduCopter/compassmot.cpp +++ b/ArduCopter/compassmot.cpp @@ -35,7 +35,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan) // check compass is enabled if (!AP::compass().enabled()) { - gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Compass disabled"); + gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "指南针已禁用");//Compass disabled ap.compass_mot = false; return MAV_RESULT_TEMPORARILY_REJECTED; } @@ -44,7 +44,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan) compass.read(); for (uint8_t i=0; iget_control_in() != 0) { - gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Throttle not zero"); + gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "油门不为0");//Throttle not zero ap.compass_mot = false; return MAV_RESULT_TEMPORARILY_REJECTED; } // check we are landed if (!ap.land_complete) { - gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Not landed"); + gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "未降落");//Not landed ap.compass_mot = false; return MAV_RESULT_TEMPORARILY_REJECTED; } @@ -91,7 +91,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan) AP_Notify::flags.esc_calibration = true; // warn user we are starting calibration - gcs_chan.send_text(MAV_SEVERITY_INFO, "Starting calibration"); + gcs_chan.send_text(MAV_SEVERITY_INFO, "开始校准");//Starting calibration // inform what type of compensation we are attempting if (comp_type == AP_COMPASS_MOT_COMP_CURRENT) { diff --git a/ArduCopter/crash_check.cpp b/ArduCopter/crash_check.cpp index 4fe7ad1c93..f2e03327cc 100644 --- a/ArduCopter/crash_check.cpp +++ b/ArduCopter/crash_check.cpp @@ -65,7 +65,7 @@ void Copter::crash_check() // keep logging even if disarmed: AP::logger().set_force_log_disarmed(true); // send message to gcs - gcs().send_text(MAV_SEVERITY_EMERGENCY,"Crash: Disarming"); + gcs().send_text(MAV_SEVERITY_EMERGENCY,"坠机:锁定");//Crash: Disarming // disarm motors copter.arming.disarm(); } @@ -135,7 +135,7 @@ void Copter::thrust_loss_check() thrust_loss_counter = 0; AP::logger().Write_Error(LogErrorSubsystem::THRUST_LOSS_CHECK, LogErrorCode::FAILSAFE_OCCURRED); // send message to gcs - gcs().send_text(MAV_SEVERITY_EMERGENCY, "Potential Thrust Loss (%d)", (int)motors->get_lost_motor() + 1); + gcs().send_text(MAV_SEVERITY_EMERGENCY, "潜在的推力损失 (%d)", (int)motors->get_lost_motor() + 1); //Potential Thrust Loss // enable thrust loss handling motors->set_thrust_boost(true); // the motors library disables this when it is no longer needed to achieve the commanded output diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp index a69ae93b0a..162b1eaf78 100644 --- a/ArduCopter/ekf_check.cpp +++ b/ArduCopter/ekf_check.cpp @@ -64,7 +64,7 @@ void Copter::ekf_check() AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE); // send message to gcs if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) { - gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF variance"); + gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF不佳"); //EKF variance ekf_check_state.last_warn_time = AP_HAL::millis(); } failsafe_ekf_event(); @@ -247,7 +247,7 @@ void Copter::check_vibration() pos_control->set_vibe_comp(false); vibration_check.clear_ms = 0; AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_RESOLVED); - gcs().send_text(MAV_SEVERITY_CRITICAL, "Vibration compensation OFF"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "震动补偿关闭");//Vibration compensation OFF } } vibration_check.start_ms = 0; @@ -268,7 +268,7 @@ void Copter::check_vibration() vibration_check.high_vibes = true; pos_control->set_vibe_comp(true); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_OCCURRED); - gcs().send_text(MAV_SEVERITY_CRITICAL, "Vibration compensation ON"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "启用震动补偿"); //Vibration compensation ON } } } diff --git a/ArduCopter/esc_calibration.cpp b/ArduCopter/esc_calibration.cpp index 152388d1ed..88c1e88ed4 100644 --- a/ArduCopter/esc_calibration.cpp +++ b/ArduCopter/esc_calibration.cpp @@ -39,7 +39,7 @@ void Copter::esc_calibration_startup_check() // we will enter esc_calibrate mode on next reboot g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH); // send message to gcs - gcs().send_text(MAV_SEVERITY_CRITICAL,"ESC calibration: Restart board"); + gcs().send_text(MAV_SEVERITY_CRITICAL,"电调校准:重启底板");//ESC calibration: Restart board // turn on esc calibration notification AP_Notify::flags.esc_calibration = true; // block until we restart diff --git a/ArduCopter/events.cpp b/ArduCopter/events.cpp index 7a7a83029c..80a3abcdc8 100644 --- a/ArduCopter/events.cpp +++ b/ArduCopter/events.cpp @@ -274,7 +274,7 @@ void Copter::failsafe_terrain_set_status(bool data_ok) void Copter::failsafe_terrain_on_event() { failsafe.terrain = true; - gcs().send_text(MAV_SEVERITY_CRITICAL,"Failsafe: Terrain data missing"); + gcs().send_text(MAV_SEVERITY_CRITICAL,"故障保护:地形数据丢失"");//Failsafe: Terrain data missing AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::FAILSAFE_OCCURRED); if (should_disarm_on_failsafe()) { @@ -300,10 +300,10 @@ void Copter::gpsglitch_check() ap.gps_glitching = gps_glitching; if (gps_glitching) { AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::GPS_GLITCH); - gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch"); + gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS信号异常"); //GPS Glitch } else { AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::ERROR_RESOLVED); - gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch cleared"); + gcs().send_text(MAV_SEVERITY_CRITICAL,"清除GPS信号异常");//GPS Glitch cleared } } } diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp index d9172e61fe..62e0ee7f45 100644 --- a/ArduCopter/mode.cpp +++ b/ArduCopter/mode.cpp @@ -194,7 +194,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason) Mode *new_flightmode = mode_from_mode_num((Mode::Number)mode); if (new_flightmode == nullptr) { - gcs().send_text(MAV_SEVERITY_WARNING,"No such mode"); + gcs().send_text(MAV_SEVERITY_WARNING,"没有这个模式");//No such mode AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode)); return false; } @@ -216,7 +216,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason) #endif if (!in_autorotation_check) { - gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed"); + gcs().send_text(MAV_SEVERITY_WARNING,"模式切换失败");//Flight mode change failed AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode)); return false; } @@ -245,7 +245,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason) user_throttle && !copter.flightmode->has_manual_throttle() && new_flightmode->get_pilot_desired_throttle() > copter.get_non_takeoff_throttle()) { - gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: throttle too high"); + gcs().send_text(MAV_SEVERITY_WARNING, "模式切换失败, 油门太高");//Mode change failed: throttle too high AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode)); return false; } @@ -254,13 +254,13 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason) if (!ignore_checks && new_flightmode->requires_GPS() && !copter.position_ok()) { - gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: %s requires position", new_flightmode->name()); + gcs().send_text(MAV_SEVERITY_WARNING, "模式切换失败, %s 需要位置信息", new_flightmode->name()); AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode)); return false; } if (!new_flightmode->init(ignore_checks)) { - gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed"); + gcs().send_text(MAV_SEVERITY_WARNING,"模式切换失败");//Flight mode change failed AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode)); return false; } diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp index bb38f5fb0e..b91f90ce0b 100644 --- a/ArduCopter/mode_auto.cpp +++ b/ArduCopter/mode_auto.cpp @@ -27,7 +27,7 @@ bool ModeAuto::init(bool ignore_checks) // reject switching to auto mode if landed with motors armed but first command is not a takeoff (reduce chance of flips) if (motors->armed() && copter.ap.land_complete && !mission.starts_with_takeoff_cmd()) { - gcs().send_text(MAV_SEVERITY_CRITICAL, "Auto: Missing Takeoff Cmd"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "自动模式:丢失起飞命令"); //Auto: Missing Takeoff Cmd return false; } diff --git a/ArduCopter/mode_land.cpp b/ArduCopter/mode_land.cpp index ee8301a171..6ef8d09473 100644 --- a/ArduCopter/mode_land.cpp +++ b/ArduCopter/mode_land.cpp @@ -36,7 +36,7 @@ bool ModeLand::init(bool ignore_checks) // initialise yaw auto_yaw.set_mode(AUTO_YAW_HOLD); - + gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: 开始降落"); return true; } diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp index 47778e305f..fc69c1a761 100644 --- a/ArduCopter/mode_rtl.cpp +++ b/ArduCopter/mode_rtl.cpp @@ -33,7 +33,7 @@ void ModeRTL::restart_without_terrain() terrain_following_allowed = false; _state = RTL_Starting; _state_complete = true; - gcs().send_text(MAV_SEVERITY_CRITICAL,"Restarting RTL - Terrain data missing"); + gcs().send_text(MAV_SEVERITY_CRITICAL,"重启返航-缺少地形数据");//Restarting RTL - Terrain data missing } } diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp index af74e260fd..e9c41c8b6c 100644 --- a/ArduPlane/AP_Arming.cpp +++ b/ArduPlane/AP_Arming.cpp @@ -149,13 +149,13 @@ bool AP_Arming_Plane::arm_checks(AP_Arming::Method method) #if GEOFENCE_ENABLED == ENABLED if (plane.g.fence_autoenable == 3) { if (!plane.geofence_set_enabled(true)) { - gcs().send_text(MAV_SEVERITY_WARNING, "Fence: cannot enable for arming"); + gcs().send_text(MAV_SEVERITY_WARNING, "围栏:无法解锁");//Fence: cannot enable for arming return false; } else if (!plane.geofence_prearm_check()) { plane.geofence_set_enabled(false); return false; } else { - gcs().send_text(MAV_SEVERITY_WARNING, "Fence: auto-enabled for arming"); + gcs().send_text(MAV_SEVERITY_WARNING, "围栏:自动启用解锁");//Fence: auto-enabled for arming } } #endif diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp index 30f51da083..06718f6769 100644 --- a/libraries/AP_Arming/AP_Arming.cpp +++ b/libraries/AP_Arming/AP_Arming.cpp @@ -201,7 +201,7 @@ bool AP_Arming::barometer_checks(bool report) if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_BARO)) { if (!AP::baro().all_healthy()) { - check_failed(ARMING_CHECK_BARO, report, "Barometer not healthy"); + check_failed(ARMING_CHECK_BARO, report, "气压计不健康"); //Barometer not healthy return false; } } @@ -220,7 +220,7 @@ bool AP_Arming::airspeed_checks(bool report) } for (uint8_t i=0; ienabled(i) && airspeed->use(i) && !airspeed->healthy(i)) { - check_failed(ARMING_CHECK_AIRSPEED, report, "Airspeed %d not healthy", i + 1); + check_failed(ARMING_CHECK_AIRSPEED, report, "空速计 %d 不健康", i + 1);//Airspeed %d not healthy return false; } } @@ -238,11 +238,11 @@ bool AP_Arming::logging_checks(bool report) return true; } if (AP::logger().logging_failed()) { - check_failed(ARMING_CHECK_LOGGING, report, "Logging failed"); + check_failed(ARMING_CHECK_LOGGING, report, "日志记录错误");//Logging failed return false; } if (!AP::logger().CardInserted()) { - check_failed(ARMING_CHECK_LOGGING, report, "No SD card"); + check_failed(ARMING_CHECK_LOGGING, report, "无SD卡");//No SD card return false; } } @@ -325,37 +325,37 @@ bool AP_Arming::ins_checks(bool report) (checks_to_perform & ARMING_CHECK_INS)) { const AP_InertialSensor &ins = AP::ins(); if (!ins.get_gyro_health_all()) { - check_failed(ARMING_CHECK_INS, report, "Gyros not healthy"); + check_failed(ARMING_CHECK_INS, report, "陀螺仪不健康");//Gyros not healthy return false; } if (!ins.gyro_calibrated_ok_all()) { - check_failed(ARMING_CHECK_INS, report, "Gyros not calibrated"); + check_failed(ARMING_CHECK_INS, report, "陀螺仪需要校准");//Gyros not calibrated return false; } if (!ins.get_accel_health_all()) { - check_failed(ARMING_CHECK_INS, report, "Accels not healthy"); + check_failed(ARMING_CHECK_INS, report, "加速度计不健康");//Accels not healthy return false; } if (!ins.accel_calibrated_ok_all()) { - check_failed(ARMING_CHECK_INS, report, "3D Accel calibration needed"); + check_failed(ARMING_CHECK_INS, report, "3D加速度计需要校准");//3D Accel calibration needed return false; } //check if accelerometers have calibrated and require reboot if (ins.accel_cal_requires_reboot()) { - check_failed(ARMING_CHECK_INS, report, "Accels calibrated requires reboot"); + check_failed(ARMING_CHECK_INS, report, "加速度计校准后需重启");//Accels calibrated requires reboot return false; } // check all accelerometers point in roughly same direction if (!ins_accels_consistent(ins)) { - check_failed(ARMING_CHECK_INS, report, "Accels inconsistent"); + check_failed(ARMING_CHECK_INS, report, "加速度计值不一致");//Accels inconsistent return false; } // check all gyros are giving consistent readings if (!ins_gyros_consistent(ins)) { - check_failed(ARMING_CHECK_INS, report, "Gyros inconsistent"); + check_failed(ARMING_CHECK_INS, report, "陀螺仪值不一致"); //Gyros inconsistent return false; } @@ -376,13 +376,13 @@ bool AP_Arming::compass_checks(bool report) // check if compass is calibrating if (_compass.is_calibrating()) { - check_failed(report, "Compass calibration running"); + check_failed(report, "正在校准指南针....");//Compass calibration running return false; } // check if compass has calibrated and requires reboot if (_compass.compass_cal_requires_reboot()) { - check_failed(report, "Compass calibrated requires reboot"); + check_failed(report, "指南针校准后需重启");//Compass calibrated requires reboot return false; } @@ -397,32 +397,32 @@ bool AP_Arming::compass_checks(bool report) } if (!_compass.healthy()) { - check_failed(ARMING_CHECK_COMPASS, report, "Compass not healthy"); + check_failed(ARMING_CHECK_COMPASS, report, "指南针不健康");//Compass not healthy return false; } // check compass learning is on or offsets have been set if (!_compass.learn_offsets_enabled() && !_compass.configured()) { - check_failed(ARMING_CHECK_COMPASS, report, "Compass not calibrated"); + check_failed(ARMING_CHECK_COMPASS, report, "指南针需要校准");//Compass not calibrated return false; } // check for unreasonable compass offsets const Vector3f offsets = _compass.get_offsets(); if (offsets.length() > _compass.get_offsets_max()) { - check_failed(ARMING_CHECK_COMPASS, report, "Compass offsets too high"); + check_failed(ARMING_CHECK_COMPASS, report, "指南针偏移过大");//Compass offsets too high return false; } // check for unreasonable mag field length const float mag_field = _compass.get_field().length(); if (mag_field > AP_ARMING_COMPASS_MAGFIELD_MAX || mag_field < AP_ARMING_COMPASS_MAGFIELD_MIN) { - check_failed(ARMING_CHECK_COMPASS, report, "Check mag field"); + check_failed(ARMING_CHECK_COMPASS, report, "磁力计检查错误");//Check mag field return false; } // check all compasses point in roughly same direction if (!_compass.consistent()) { - check_failed(ARMING_CHECK_COMPASS, report, "Compasses inconsistent"); + check_failed(ARMING_CHECK_COMPASS, report, "指南针不一致");//Compasses inconsistent return false; } } @@ -438,25 +438,25 @@ bool AP_Arming::gps_checks(bool report) //GPS OK? if (!AP::ahrs().home_is_set() || gps.status() < AP_GPS::GPS_OK_FIX_3D) { - check_failed(ARMING_CHECK_GPS, report, "Bad GPS Position"); + check_failed(ARMING_CHECK_GPS, report, "GPS位置值不佳");//Bad GPS Position return false; } //GPS update rate acceptable if (!gps.is_healthy()) { - check_failed(ARMING_CHECK_GPS, report, "GPS is not healthy"); + check_failed(ARMING_CHECK_GPS, report, "GPS不健康");//GPS is not healthy return false; } // check GPSs are within 50m of each other and that blending is healthy float distance_m; if (!gps.all_consistent(distance_m)) { - check_failed(ARMING_CHECK_GPS, report, "GPS positions differ by %4.1fm", + check_failed(ARMING_CHECK_GPS, report, "GPS位置相差 %4.1f米",//GPS positions differ by %4.1fm (double)distance_m); return false; } if (!gps.blend_health_check()) { - check_failed(ARMING_CHECK_GPS, report, "GPS blending unhealthy"); + check_failed(ARMING_CHECK_GPS, report, "GPS混合值不健康");//GPS blending unhealthy return false; } @@ -466,7 +466,7 @@ bool AP_Arming::gps_checks(bool report) if (AP::ahrs().get_position(ahrs_loc)) { const float distance = gps_loc.get_distance(ahrs_loc); if (distance > AP_ARMING_AHRS_GPS_ERROR_MAX) { - check_failed(ARMING_CHECK_GPS, report, "GPS and AHRS differ by %4.1fm", (double)distance); + check_failed(ARMING_CHECK_GPS, report, "GPS与姿态解算值 相差%4.1f米", (double)distance);//GPS and AHRS differ by %4.1fm return false; } } @@ -477,8 +477,8 @@ bool AP_Arming::gps_checks(bool report) if (gps.first_unconfigured_gps(first_unconfigured)) { check_failed(ARMING_CHECK_GPS_CONFIG, report, - "GPS %d failing configuration checks", - first_unconfigured + 1); + "GPS%d配置检查失败", + first_unconfigured + 1);//GPS %d failing configuration checks if (report) { gps.broadcast_first_configuration_failure_reason(); } @@ -510,7 +510,7 @@ bool AP_Arming::hardware_safety_check(bool report) // check if safety switch has been pushed if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) { - check_failed(ARMING_CHECK_SWITCH, report, "Hardware safety switch"); + check_failed(ARMING_CHECK_SWITCH, report, "硬件安全开关"); //Hardware safety switch return false; } } @@ -550,7 +550,7 @@ bool AP_Arming::manual_transmitter_checks(bool report) (checks_to_perform & ARMING_CHECK_RC)) { if (AP_Notify::flags.failsafe_radio) { - check_failed(ARMING_CHECK_RC, report, "Radio failsafe on"); + check_failed(ARMING_CHECK_RC, report, "遥控器故障保护开启"); //Radio failsafe on return false; } @@ -568,7 +568,7 @@ bool AP_Arming::mission_checks(bool report) _required_mission_items) { AP_Mission *mission = AP::mission(); if (mission == nullptr) { - check_failed(ARMING_CHECK_MISSION, report, "No mission library present"); + check_failed(ARMING_CHECK_MISSION, report, "无任务库"); //No mission library present #if CONFIG_HAL_BOARD == HAL_BOARD_SITL AP_HAL::panic("Mission checks requested, but no mission was allocated"); #endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL @@ -576,7 +576,7 @@ bool AP_Arming::mission_checks(bool report) } AP_Rally *rally = AP::rally(); if (rally == nullptr) { - check_failed(ARMING_CHECK_MISSION, report, "No rally library present"); + check_failed(ARMING_CHECK_MISSION, report, "无集结点库");//No rally library present #if CONFIG_HAL_BOARD == HAL_BOARD_SITL AP_HAL::panic("Mission checks requested, but no rally was allocated"); #endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL @@ -597,7 +597,7 @@ bool AP_Arming::mission_checks(bool report) for (uint8_t i = 0; i < ARRAY_SIZE(misChecks); i++) { if (_required_mission_items & misChecks[i].check) { if (!mission->contains_item(misChecks[i].mis_item_type)) { - check_failed(ARMING_CHECK_MISSION, report, "Missing mission item: %s", misChecks[i].type); + check_failed(ARMING_CHECK_MISSION, report, "缺少任务项: %s", misChecks[i].type);//"Missing mission item: %s" return false; } } @@ -605,12 +605,12 @@ bool AP_Arming::mission_checks(bool report) if (_required_mission_items & MIS_ITEM_CHECK_RALLY) { Location ahrs_loc; if (!AP::ahrs().get_position(ahrs_loc)) { - check_failed(ARMING_CHECK_MISSION, report, "Can't check rally without position"); + check_failed(ARMING_CHECK_MISSION, report, "无姿态解算位置,无法检查集结点"); //Can't check rally without position return false; } RallyLocation rally_loc = {}; if (!rally->find_nearest_rally_point(ahrs_loc, rally_loc)) { - check_failed(ARMING_CHECK_MISSION, report, "No sufficently close rally point located"); + check_failed(ARMING_CHECK_MISSION, report, "没有足够接近的集结点");//No sufficently close rally point located return false; } } @@ -648,7 +648,7 @@ bool AP_Arming::servo_checks(bool report) const const uint16_t trim = c->get_trim(); if (c->get_output_min() > trim) { - check_failed(report, "SERVO%d minimum is greater than trim", i + 1); + check_failed(report, "SERVO%d minimum is greater than trim", i + 1); check_passed = false; } if (c->get_output_max() < trim) { @@ -659,7 +659,7 @@ bool AP_Arming::servo_checks(bool report) const #if HAL_WITH_IO_MCU if (!iomcu.healthy()) { - check_failed(report, "IOMCU is unhealthy"); + check_failed(report, "IO控制器不健康"); //IOMCU is unhealthy check_passed = false; } #endif @@ -675,7 +675,7 @@ bool AP_Arming::board_voltage_checks(bool report) const float bus_voltage = hal.analogin->board_voltage(); const float vbus_min = AP_BoardConfig::get_minimum_board_voltage(); if(((bus_voltage < vbus_min) || (bus_voltage > AP_ARMING_BOARD_VOLTAGE_MAX))) { - check_failed(ARMING_CHECK_VOLTAGE, report, "Board (%1.1fv) out of range %1.1f-%1.1fv", (double)bus_voltage, (double)vbus_min, (double)AP_ARMING_BOARD_VOLTAGE_MAX); + check_failed(ARMING_CHECK_VOLTAGE, report, "板载电压 (%1.1fv) 超出范围 %1.1f-%1.1fv", (double)bus_voltage, (double)vbus_min, (double)AP_ARMING_BOARD_VOLTAGE_MAX);//Board (%1.1fv) out of range %1.1f-%1.1fv return false; } #endif // HAL_HAVE_BOARD_VOLTAGE @@ -685,7 +685,7 @@ bool AP_Arming::board_voltage_checks(bool report) if (is_positive(vservo_min)) { const float servo_voltage = hal.analogin->servorail_voltage(); if (servo_voltage < vservo_min) { - check_failed(ARMING_CHECK_VOLTAGE, report, "Servo voltage to low (%1.2fv < %1.2fv)", (double)servo_voltage, (double)vservo_min); + check_failed(ARMING_CHECK_VOLTAGE, report, "伺服电压过低 (%1.2fv < %1.2fv)", (double)servo_voltage, (double)vservo_min);//Servo voltage to low return false; } } @@ -702,26 +702,26 @@ bool AP_Arming::system_checks(bool report) { if (check_enabled(ARMING_CHECK_SYSTEM)) { if (!hal.storage->healthy()) { - check_failed(ARMING_CHECK_SYSTEM, report, "Param storage failed"); + check_failed(ARMING_CHECK_SYSTEM, report, "参数保存错误"); //Param storage failed return false; } #if AP_TERRAIN_AVAILABLE const AP_Terrain *terrain = AP_Terrain::get_singleton(); if ((terrain != nullptr) && terrain->init_failed()) { - check_failed(ARMING_CHECK_SYSTEM, report, "Terrain out of memory"); + check_failed(ARMING_CHECK_SYSTEM, report, "地形内存不足");//Terrain out of memory return false; } #endif #ifdef ENABLE_SCRIPTING const AP_Scripting *scripting = AP_Scripting::get_singleton(); if ((scripting != nullptr) && scripting->enabled() && scripting->init_failed()) { - check_failed(ARMING_CHECK_SYSTEM, report, "Scripting out of memory"); + check_failed(ARMING_CHECK_SYSTEM, report, "脚本超出内存");//Scripting out of memory return false; } #endif } if (AP::internalerror().errors() != 0) { - check_failed(report, "Internal errors (0x%x)", (unsigned int)AP::internalerror().errors()); + check_failed(report, "内部错误 (0x%x)", (unsigned int)AP::internalerror().errors());//Internal errors return false; } @@ -743,7 +743,7 @@ bool AP_Arming::proximity_checks(bool report) const // return false if proximity sensor unhealthy if (proximity->get_status() < AP_Proximity::Status::Good) { - check_failed(report, "check proximity sensor"); + check_failed(report, "检查接近传感器");//check proximity sensor return false; } @@ -763,7 +763,7 @@ bool AP_Arming::can_checks(bool report) // To be replaced with macro saying if KDECAN library is included #if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub) AP_KDECAN *ap_kdecan = AP_KDECAN::get_kdecan(i); - snprintf(fail_msg, ARRAY_SIZE(fail_msg), "KDECAN failed"); + snprintf(fail_msg, ARRAY_SIZE(fail_msg), "KDECAN失效"); //KDECAN failed if (ap_kdecan != nullptr && !ap_kdecan->pre_arm_check(fail_msg, ARRAY_SIZE(fail_msg))) { check_failed(ARMING_CHECK_SYSTEM, report, "%s", fail_msg); return false; @@ -773,7 +773,7 @@ bool AP_Arming::can_checks(bool report) } case AP_BoardConfig_CAN::Protocol_Type_UAVCAN: { - snprintf(fail_msg, ARRAY_SIZE(fail_msg), "UAVCAN failed"); + snprintf(fail_msg, ARRAY_SIZE(fail_msg), "UAVCAN失效");//UAVCAN failed if (!AP::uavcan_server().prearm_check(fail_msg, ARRAY_SIZE(fail_msg))) { check_failed(ARMING_CHECK_SYSTEM, report, "%s", fail_msg); return false; @@ -804,7 +804,7 @@ bool AP_Arming::fence_checks(bool display_failure) } if (fail_msg == nullptr) { - check_failed(display_failure, "Check fence"); + check_failed(display_failure, "检查围栏"); //Check fence } else { check_failed(display_failure, "%s", fail_msg); } @@ -863,7 +863,7 @@ bool AP_Arming::arm_checks(AP_Arming::Method method) if (!logger->logging_started() && ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_LOGGING))) { - check_failed(ARMING_CHECK_LOGGING, true, "Logging not started"); + check_failed(ARMING_CHECK_LOGGING, true, "日志记录未启动"); //Logging not started return false; } } diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.cpp b/libraries/AP_BattMonitor/AP_BattMonitor.cpp index 23fb9c9a2e..126ab5c6e5 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor.cpp +++ b/libraries/AP_BattMonitor/AP_BattMonitor.cpp @@ -365,7 +365,7 @@ void AP_BattMonitor::check_failsafes(void) break; } - gcs().send_text(MAV_SEVERITY_WARNING, "Battery %d is %s %.2fV used %.0f mAh", i + 1, type_str, + gcs().send_text(MAV_SEVERITY_WARNING, "电池 %d 类型 %s %.2fV used %.0f mAh", i + 1, type_str, //Battery %d is %s %.2fV used %.0f mAh (double)voltage(i), (double)state[i].consumed_mah); _has_triggered_failsafe = true; AP_Notify::flags.failsafe_battery = true; @@ -452,7 +452,7 @@ bool AP_BattMonitor::arming_checks(size_t buflen, char *buffer) const for (uint8_t i = 0; i < AP_BATT_MONITOR_MAX_INSTANCES; i++) { if (drivers[i] != nullptr && !(drivers[i]->arming_checks(temp_buffer, sizeof(temp_buffer)))) { - hal.util->snprintf(buffer, buflen, "Battery %d %s", i + 1, temp_buffer); + hal.util->snprintf(buffer, buflen, "电池 %d: %s", i + 1, temp_buffer); //Battery %d %s return false; } } @@ -473,7 +473,7 @@ void AP_BattMonitor::checkPoweringOff(void) cmd_msg.command = MAV_CMD_POWER_OFF_INITIATED; cmd_msg.param1 = i+1; GCS_MAVLINK::send_to_components(MAVLINK_MSG_ID_COMMAND_LONG, (char*)&cmd_msg, sizeof(cmd_msg)); - gcs().send_text(MAV_SEVERITY_WARNING, "Vehicle %d battery %d is powering off", mavlink_system.sysid, i+1); + gcs().send_text(MAV_SEVERITY_WARNING, "无人机 %d 电池 %d 正在关闭", mavlink_system.sysid, i+1); //Vehicle %d battery %d is powering off // only send this once state[i].powerOffNotified = true; diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp index 43c1b240c5..1dbb30151e 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp +++ b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp @@ -174,14 +174,14 @@ bool AP_BattMonitor_Backend::arming_checks(char * buffer, size_t buflen) const uint16_t dropout_voltage=0; bool fs_cells_dropout_voltage = cells_dropout_voltage_checks(cell_min_index,cell_max_index,dropout_voltage); - bool result = update_check(buflen, buffer, low_voltage, "low voltage failsafe"); - result = result && update_check(buflen, buffer, low_capacity, "low capacity failsafe"); - result = result && update_check(buflen, buffer, critical_voltage, "critical voltage failsafe"); - result = result && update_check(buflen, buffer, critical_capacity, "critical capacity failsafe"); - result = result && update_check(buflen, buffer, below_arming_voltage, "below minimum arming voltage"); - result = result && update_check(buflen, buffer, below_arming_capacity, "below minimum arming capacity"); - result = result && update_check(buflen, buffer, fs_capacity_inversion, "capacity failsafe critical > low"); - result = result && update_check(buflen, buffer, fs_voltage_inversion, "voltage failsafe critical > low"); + bool result = update_check(buflen, buffer, low_voltage, "低电压故障保护");//low voltage failsafe + result = result && update_check(buflen, buffer, low_capacity, "低电量故障保护");//low capacity failsafe + result = result && update_check(buflen, buffer, critical_voltage, "临界电压故障保护");//critical voltage failsafe + result = result && update_check(buflen, buffer, critical_capacity, "临界电量故障保护");//critical capacity failsafe + result = result && update_check(buflen, buffer, below_arming_voltage, "低于最小解锁电压"); //below minimum arming voltage + result = result && update_check(buflen, buffer, below_arming_capacity, "低于最小解锁电量");//below minimum arming capacity + result = result && update_check(buflen, buffer, fs_capacity_inversion, "capacity failsafe critical > low");//capacity failsafe critical > low + result = result && update_check(buflen, buffer, fs_voltage_inversion, "voltage failsafe critical > low");//voltage failsafe critical > low // char bat_message[60]; // snprintf(bat_message,60,"电池压差过大,%d号与%d号电芯，压差 %f V",cell_max_index,cell_min_index,dropout_voltage/1000.0); diff --git a/libraries/AP_Compass/AP_Compass_Calibration.cpp b/libraries/AP_Compass/AP_Compass_Calibration.cpp index f8ceee1971..b9c19b61c7 100644 --- a/libraries/AP_Compass/AP_Compass_Calibration.cpp +++ b/libraries/AP_Compass/AP_Compass_Calibration.cpp @@ -57,7 +57,7 @@ bool Compass::_start_calibration(uint8_t i, bool retry, float delay) } if (_options.get() & uint16_t(Option::CAL_REQUIRE_GPS)) { if (AP::gps().status() < AP_GPS::GPS_OK_FIX_2D) { - gcs().send_text(MAV_SEVERITY_ERROR, "Compass cal requires GPS lock"); + gcs().send_text(MAV_SEVERITY_ERROR, "指南针需要GPS锁定");//Compass cal requires GPS lock return false; } } diff --git a/libraries/AP_Compass/CompassCalibrator.cpp b/libraries/AP_Compass/CompassCalibrator.cpp index 633a5a0541..cbc48d915d 100644 --- a/libraries/AP_Compass/CompassCalibrator.cpp +++ b/libraries/AP_Compass/CompassCalibrator.cpp @@ -878,13 +878,13 @@ bool CompassCalibrator::calculate_orientation(void) pass = _orientation_confidence > variance_threshold; } if (!pass) { - gcs().send_text(MAV_SEVERITY_CRITICAL, "Mag(%u) bad orientation: %u/%u %.1f", _compass_idx, + gcs().send_text(MAV_SEVERITY_CRITICAL, "磁力计(%u) 方向不佳: %u/%u %.1f", _compass_idx, //Mag(%u) bad orientation: %u/%u %.1f besti, besti2, (double)_orientation_confidence); } else if (besti == _orientation) { // no orientation change gcs().send_text(MAV_SEVERITY_INFO, "Mag(%u) good orientation: %u %.1f", _compass_idx, besti, (double)_orientation_confidence); } else if (!_is_external || !_fix_orientation) { - gcs().send_text(MAV_SEVERITY_CRITICAL, "Mag(%u) internal bad orientation: %u %.1f", _compass_idx, besti, (double)_orientation_confidence); + gcs().send_text(MAV_SEVERITY_CRITICAL, "磁力计(%u) 内部方向不佳: %u %.1f", _compass_idx, besti, (double)_orientation_confidence); //Mag(%u) internal bad orientation: %u %.1f } else { gcs().send_text(MAV_SEVERITY_INFO, "Mag(%u) new orientation: %u was %u %.1f", _compass_idx, besti, _orientation, (double)_orientation_confidence); } @@ -956,7 +956,7 @@ bool CompassCalibrator::fix_radius(void) if (correction > COMPASS_MAX_SCALE_FACTOR || correction < COMPASS_MIN_SCALE_FACTOR) { // don't allow more than 30% scale factor correction - gcs().send_text(MAV_SEVERITY_ERROR, "Mag(%u) bad radius %.0f expected %.0f", + gcs().send_text(MAV_SEVERITY_ERROR, "磁力计(%u) 半径错误 %.0f,预期为%.0f",//Mag(%u) bad radius %.0f expected %.0f _compass_idx, _params.radius, expected_radius); diff --git a/libraries/AP_Landing/AP_Landing.cpp b/libraries/AP_Landing/AP_Landing.cpp index 5dc940cc09..b9683c0c10 100644 --- a/libraries/AP_Landing/AP_Landing.cpp +++ b/libraries/AP_Landing/AP_Landing.cpp @@ -212,7 +212,7 @@ bool AP_Landing::verify_land(const Location &prev_WP_loc, Location &next_WP_loc, default: // returning TRUE while executing verify_land() will increment the // mission index which in many cases will trigger an RTL for end-of-mission - gcs().send_text(MAV_SEVERITY_CRITICAL, "Landing configuration error, invalid LAND_TYPE"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "着陆设置错误, 无效的着陆类型"); //Landing configuration error, invalid LAND_TYPE success = true; break; } @@ -437,7 +437,7 @@ bool AP_Landing::restart_landing_sequence() gcs().send_text(MAV_SEVERITY_NOTICE, "Restarted landing sequence at waypoint %d", prev_cmd_with_wp_index); success = true; } else { - gcs().send_text(MAV_SEVERITY_WARNING, "Unable to restart landing sequence"); + gcs().send_text(MAV_SEVERITY_WARNING, "无法重新启动降落排序");//Unable to restart landing sequence success = false; } diff --git a/libraries/AP_Logger/AP_Logger_File.cpp b/libraries/AP_Logger/AP_Logger_File.cpp index b5b2a32948..bccb5582e1 100644 --- a/libraries/AP_Logger/AP_Logger_File.cpp +++ b/libraries/AP_Logger/AP_Logger_File.cpp @@ -139,7 +139,7 @@ void AP_Logger_File::periodic_1Hz() if (io_thread_warning_decimation_counter == 0 && _initialised) { // we don't print this error unless we did initialise. When _initialised is set to true // we register the IO timer callback - gcs().send_text(MAV_SEVERITY_CRITICAL, "AP_Logger: stuck thread (%s)", last_io_operation); + gcs().send_text(MAV_SEVERITY_CRITICAL, "日志记录:线程堵塞(%s)", last_io_operation);//AP_Logger: stuck thread (%s) } if (io_thread_warning_decimation_counter++ > 57) { io_thread_warning_decimation_counter = 0; diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp index 51378d4b98..c7a14ac4ce 100644 --- a/libraries/AP_Mission/AP_Mission.cpp +++ b/libraries/AP_Mission/AP_Mission.cpp @@ -1833,7 +1833,7 @@ bool AP_Mission::jump_to_landing_sequence(void) return true; } - gcs().send_text(MAV_SEVERITY_WARNING, "Unable to start landing sequence"); + gcs().send_text(MAV_SEVERITY_WARNING, "无法启用降落排序");//Unable to start landing sequence return false; } @@ -1872,7 +1872,7 @@ bool AP_Mission::jump_to_abort_landing_sequence(void) return true; } - gcs().send_text(MAV_SEVERITY_WARNING, "Unable to start find a landing abort sequence"); + gcs().send_text(MAV_SEVERITY_WARNING, "无法查找着陆中止排序");//Unable to start find a landing abort sequence return false; } diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp index e51320416a..3690e4a309 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp @@ -112,7 +112,7 @@ void AP_MotorsHeli_Quad::calculate_armed_scalars() // keeps user from changing RSC mode while armed if (_main_rotor._rsc_mode.get() != _main_rotor.get_control_mode()) { _main_rotor.reset_rsc_mode_param(); - gcs().send_text(MAV_SEVERITY_CRITICAL, "RSC control mode change failed"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "RSC control mode change failed");//RSC control mode change failed _heliflags.save_rsc_mode = true; } // saves rsc mode parameter when disarmed if it had been reset while armed diff --git a/libraries/AP_Motors/AP_MotorsTri.cpp b/libraries/AP_Motors/AP_MotorsTri.cpp index c9ad76b805..8c99f7f16d 100644 --- a/libraries/AP_Motors/AP_MotorsTri.cpp +++ b/libraries/AP_Motors/AP_MotorsTri.cpp @@ -43,7 +43,7 @@ void AP_MotorsTri::init(motor_frame_class frame_class, motor_frame_type frame_ty // find the yaw servo _yaw_servo = SRV_Channels::get_channel_for(SRV_Channel::k_motor7, AP_MOTORS_CH_TRI_YAW); if (!_yaw_servo) { - gcs().send_text(MAV_SEVERITY_ERROR, "MotorsTri: unable to setup yaw channel"); + gcs().send_text(MAV_SEVERITY_ERROR, "MotorsTri: 无法设置偏航通道");//unable to setup yaw channel // don't set initialised_ok return; } diff --git a/libraries/AP_Motors/AP_Motors_Class.cpp b/libraries/AP_Motors/AP_Motors_Class.cpp index 0987817b9b..67b4bd3025 100644 --- a/libraries/AP_Motors/AP_Motors_Class.cpp +++ b/libraries/AP_Motors/AP_Motors_Class.cpp @@ -172,7 +172,7 @@ void AP_Motors::add_motor_num(int8_t motor_num) SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(motor_num); SRV_Channels::set_aux_channel_default(function, motor_num); if (!SRV_Channels::find_channel(function, chan)) { - gcs().send_text(MAV_SEVERITY_ERROR, "Motors: unable to setup motor %u", motor_num); + gcs().send_text(MAV_SEVERITY_ERROR, "Motors: 无法设置电机 %u", motor_num);//unable to setup motor } } } diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp index 1594f33835..a68c2038ae 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp @@ -656,7 +656,7 @@ bool NavEKF2::InitialiseFilter(void) // check if there is enough memory to create the EKF cores if (hal.util->available_memory() < sizeof(NavEKF2_core)*num_cores + 4096) { - gcs().send_text(MAV_SEVERITY_CRITICAL, "NavEKF2: not enough memory"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "NavEKF2:没有足够的内存");//NavEKF2: not enough memory _enable.set(0); return false; } @@ -665,7 +665,7 @@ bool NavEKF2::InitialiseFilter(void) core = (NavEKF2_core*)hal.util->malloc_type(sizeof(NavEKF2_core)*num_cores, AP_HAL::Util::MEM_FAST); if (core == nullptr) { _enable.set(0); - gcs().send_text(MAV_SEVERITY_CRITICAL, "NavEKF2: allocation failed"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "NavEKF2: 分配失败");//NavEKF2: allocation failed return false; } diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp index 039b1036c3..8a6f22d6bc 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp @@ -266,7 +266,7 @@ void NavEKF2_core::setAidingMode() switch (PV_AidingMode) { case AID_NONE: // We have ceased aiding - gcs().send_text(MAV_SEVERITY_WARNING, "EKF2 IMU%u has stopped aiding",(unsigned)imu_index); + gcs().send_text(MAV_SEVERITY_WARNING, "EKF2 IMU%u 停止协助",(unsigned)imu_index);//EKF2 IMU%u has stopped aiding // When not aiding, estimate orientation & height fusing synthetic constant position and zero velocity measurement to constrain tilt errors posTimeout = true; velTimeout = true; diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp index fed0a152cc..43618e4650 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp @@ -142,14 +142,14 @@ void NavEKF2_core::controlMagYawReset() // send initial alignment status to console if (!yawAlignComplete) { - gcs().send_text(MAV_SEVERITY_INFO, "EKF2 IMU%u initial yaw alignment complete",(unsigned)imu_index); + 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 } // send in-flight yaw alignment status to console if (finalResetRequest) { - gcs().send_text(MAV_SEVERITY_INFO, "EKF2 IMU%u in-flight yaw alignment complete",(unsigned)imu_index); + gcs().send_text(MAV_SEVERITY_INFO, "EKF2 IMU%u 飞行中偏航调整完成",(unsigned)imu_index); //in-flight yaw alignment complete } else if (interimResetRequest) { - gcs().send_text(MAV_SEVERITY_WARNING, "EKF2 IMU%u ground mag anomaly, yaw re-aligned",(unsigned)imu_index); + gcs().send_text(MAV_SEVERITY_WARNING, "EKF2 IMU%u 地磁异常，偏航重新对准",(unsigned)imu_index);//EKF2 IMU%u ground mag anomaly, yaw re-aligned } // update the yaw reset completed status diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp index 361ff83362..b10f255ccf 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp @@ -623,7 +623,7 @@ void NavEKF2_core::UpdateFilter(bool predict) AP_HAL::millis() - last_filter_ok_ms > 5000 && !hal.util->get_soft_armed()) { // we've been unhealthy for 5 seconds after being healthy, reset the filter - gcs().send_text(MAV_SEVERITY_WARNING, "EKF2 IMU%u forced reset",(unsigned)imu_index); + gcs().send_text(MAV_SEVERITY_WARNING, "EKF2 IMU%u 强制重置",(unsigned)imu_index);//forced reset last_filter_ok_ms = 0; statesInitialised = false; InitialiseFilterBootstrap(); diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp index 4c1acc7a4f..ea71efe7dc 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp @@ -686,7 +686,7 @@ bool NavEKF3::InitialiseFilter(void) // check if there is enough memory to create the EKF cores if (hal.util->available_memory() < sizeof(NavEKF3_core)*num_cores + 4096) { - gcs().send_text(MAV_SEVERITY_CRITICAL, "NavEKF3: not enough memory"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "NavEKF3: 没有足够的内存");//not enough memory _enable.set(0); return false; } @@ -695,7 +695,7 @@ bool NavEKF3::InitialiseFilter(void) core = (NavEKF3_core*)hal.util->malloc_type(sizeof(NavEKF3_core)*num_cores, AP_HAL::Util::MEM_FAST); if (core == nullptr) { _enable.set(0); - gcs().send_text(MAV_SEVERITY_CRITICAL, "NavEKF3: allocation failed"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "NavEKF3: 分配失败");//allocation failed return false; } diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp index 245894c9ea..57c4931248 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp @@ -117,14 +117,14 @@ void NavEKF3_core::controlMagYawReset() // send initial alignment status to console if (!yawAlignComplete) { - gcs().send_text(MAV_SEVERITY_INFO, "EKF3 IMU%u initial yaw alignment complete",(unsigned)imu_index); + 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 } // send in-flight yaw alignment status to console if (finalResetRequest) { - gcs().send_text(MAV_SEVERITY_INFO, "EKF3 IMU%u in-flight yaw alignment complete",(unsigned)imu_index); + gcs().send_text(MAV_SEVERITY_INFO, "EKF3 IMU%u飞行中偏航调整完成",(unsigned)imu_index); // in-flight yaw alignment complete } else if (interimResetRequest) { - gcs().send_text(MAV_SEVERITY_WARNING, "EKF3 IMU%u ground mag anomaly, yaw re-aligned",(unsigned)imu_index); + gcs().send_text(MAV_SEVERITY_WARNING, "EKF3 IMU%u 地磁异常,偏航重校准",(unsigned)imu_index);//ground mag anomaly, yaw re-aligned } // prevent reset of variances in ConstrainVariances() diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp index f10ad912f4..689403e4f8 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp @@ -96,7 +96,7 @@ void NavEKF3_core::calcGpsGoodToAlign(void) // capable of giving a vertical velocity if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) { frontend->_fusionModeGPS.set(1); - gcs().send_text(MAV_SEVERITY_WARNING, "EK3: Changed EK3_GPS_TYPE to 1"); + gcs().send_text(MAV_SEVERITY_WARNING, "EK3: EK3 GPS类型改为 1");//将EK3_GPS_TYPE更改为1 } } else { gpsVertVelFail = false; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp index 5d8bc83b07..aac47ace1e 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp @@ -75,11 +75,11 @@ bool NavEKF3_core::setup_core(uint8_t _imu_index, uint8_t _core_index) lastInitFailReport_ms = AP_HAL::millis(); // provide an escalating series of messages if (AP_HAL::millis() > 30000) { - gcs().send_text(MAV_SEVERITY_ERROR, "EKF3 waiting for GPS config data"); + gcs().send_text(MAV_SEVERITY_ERROR, "EKF3等待GPS配置数据");//EKF3 waiting for GPS config data } else if (AP_HAL::millis() > 15000) { - gcs().send_text(MAV_SEVERITY_WARNING, "EKF3 waiting for GPS config data"); + gcs().send_text(MAV_SEVERITY_WARNING, "EKF3等待GPS配置数据"); //EKF3 waiting for GPS config data } else { - gcs().send_text(MAV_SEVERITY_INFO, "EKF3 waiting for GPS config data"); + gcs().send_text(MAV_SEVERITY_INFO, "EKF3等待GPS配置数据");//EKF3 waiting for GPS config data } } return false; diff --git a/libraries/AP_Scripting/AP_Scripting.cpp b/libraries/AP_Scripting/AP_Scripting.cpp index 02eb82e10d..f428716c34 100644 --- a/libraries/AP_Scripting/AP_Scripting.cpp +++ b/libraries/AP_Scripting/AP_Scripting.cpp @@ -86,8 +86,8 @@ void AP_Scripting::init(void) { if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Scripting::thread, void), "Scripting", SCRIPTING_STACK_SIZE, AP_HAL::Scheduler::PRIORITY_SCRIPTING, 0)) { - gcs().send_text(MAV_SEVERITY_CRITICAL, "Could not create scripting stack (%d)", SCRIPTING_STACK_SIZE); - gcs().send_text(MAV_SEVERITY_ERROR, "Scripting failed to start"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "无法创建脚本堆栈 (%d)", SCRIPTING_STACK_SIZE);//Could not create scripting stack + gcs().send_text(MAV_SEVERITY_ERROR, "脚本启动失败");//Scripting failed to start _init_failed = true; } } @@ -95,14 +95,14 @@ void AP_Scripting::init(void) { void AP_Scripting::thread(void) { lua_scripts *lua = new lua_scripts(_script_vm_exec_count, _script_heap_size, _debug_level); if (lua == nullptr || !lua->heap_allocated()) { - gcs().send_text(MAV_SEVERITY_CRITICAL, "Unable to allocate scripting memory"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "无法分配脚本内存");//Unable to allocate scripting memory _init_failed = true; return; } lua->run(); // only reachable if the lua backend has died for any reason - gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting has stopped"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "脚本已停止");//Scripting has stopped } AP_Scripting *AP_Scripting::_singleton = nullptr; diff --git a/libraries/AP_Terrain/AP_Terrain.cpp b/libraries/AP_Terrain/AP_Terrain.cpp index 50c67749fd..d8c4cf644d 100644 --- a/libraries/AP_Terrain/AP_Terrain.cpp +++ b/libraries/AP_Terrain/AP_Terrain.cpp @@ -384,7 +384,7 @@ bool AP_Terrain::allocate(void) } cache = (struct grid_cache *)calloc(TERRAIN_GRID_BLOCK_CACHE_SIZE, sizeof(cache[0])); if (cache == nullptr) { - gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain: Allocation failed"); + gcs().send_text(MAV_SEVERITY_CRITICAL, "地形:分配失败");//Terrain: Allocation failed memory_alloc_failed = true; return false; } diff --git a/libraries/AP_UAVCAN/AP_UAVCAN_Server.cpp b/libraries/AP_UAVCAN/AP_UAVCAN_Server.cpp index b74889029c..e8ae3bd8a9 100644 --- a/libraries/AP_UAVCAN/AP_UAVCAN_Server.cpp +++ b/libraries/AP_UAVCAN/AP_UAVCAN_Server.cpp @@ -613,7 +613,7 @@ void AP_UAVCAN_Server::handleAllocation(uint8_t driver_index, uint8_t node_id, c msg.node_id = resp_node_id; } } else { - gcs().send_text(MAV_SEVERITY_ERROR, "UC Node Alloc Failed!"); + gcs().send_text(MAV_SEVERITY_ERROR, "UAVCAN节点分配失败!");//节点分配失败 } } else { msg.node_id = resp_node_id; diff --git a/libraries/GCS_MAVLink/GCS_Param.cpp b/libraries/GCS_MAVLink/GCS_Param.cpp index bc65f2529d..4c11205024 100644 --- a/libraries/GCS_MAVLink/GCS_Param.cpp +++ b/libraries/GCS_MAVLink/GCS_Param.cpp @@ -275,7 +275,7 @@ void GCS_MAVLINK::handle_param_set(const mavlink_message_t &msg) float old_value = vp->cast_to_float(var_type); if ((parameter_flags & AP_PARAM_FLAG_INTERNAL_USE_ONLY) || vp->is_read_only()) { - gcs().send_text(MAV_SEVERITY_WARNING, "Param write denied (%s)", key); + gcs().send_text(MAV_SEVERITY_WARNING, "参数写入被拒绝(%s)", key);//Param write denied (%s) // echo back the incorrect value so that we fulfull the // parameter state machine requirements: send_parameter_value(key, var_type, packet.param_value); diff --git a/libraries/GCS_MAVLink/GCS_Rally.cpp b/libraries/GCS_MAVLink/GCS_Rally.cpp index 1ec08f80c8..1fdc890e91 100644 --- a/libraries/GCS_MAVLink/GCS_Rally.cpp +++ b/libraries/GCS_MAVLink/GCS_Rally.cpp @@ -56,7 +56,7 @@ void GCS_MAVLINK::handle_rally_point(const mavlink_message_t &msg) rally_point.flags = packet.flags; if (!r->set_rally_point_with_index(packet.idx, rally_point)) { - send_text(MAV_SEVERITY_CRITICAL, "Error setting rally point"); + send_text(MAV_SEVERITY_CRITICAL, "设置集合点时出错");//Error setting rally point } } diff --git a/libraries/GCS_MAVLink/GCS_Signing.cpp b/libraries/GCS_MAVLink/GCS_Signing.cpp index 163147561c..94bf74a0d1 100644 --- a/libraries/GCS_MAVLink/GCS_Signing.cpp +++ b/libraries/GCS_MAVLink/GCS_Signing.cpp @@ -68,7 +68,7 @@ void GCS_MAVLINK::handle_setup_signing(const mavlink_message_t &msg) // setting up signing key when armed generally not useful / // possibly not a good idea if (hal.util->get_soft_armed()) { - send_text(MAV_SEVERITY_WARNING, "ERROR: Won't setup signing when armed"); + send_text(MAV_SEVERITY_WARNING, "ERROR: 解锁时不会设置签名");//Won't setup signing when armed return; } @@ -82,7 +82,7 @@ void GCS_MAVLINK::handle_setup_signing(const mavlink_message_t &msg) memcpy(key.secret_key, packet.secret_key, 32); if (!signing_key_save(key)) { - send_text(MAV_SEVERITY_WARNING, "ERROR: Failed to save signing key"); + send_text(MAV_SEVERITY_WARNING, "ERROR: 保存签名密钥失败");//Failed to save signing key return; } diff --git a/libraries/GCS_MAVLink/MissionItemProtocol.cpp b/libraries/GCS_MAVLink/MissionItemProtocol.cpp index 84b711da25..01a51d7a2d 100644 --- a/libraries/GCS_MAVLink/MissionItemProtocol.cpp +++ b/libraries/GCS_MAVLink/MissionItemProtocol.cpp @@ -40,7 +40,7 @@ bool MissionItemProtocol::mavlink2_requirement_met(const GCS_MAVLINK &_link, con if (!_link.sending_mavlink1()) { return true; } - gcs().send_text(MAV_SEVERITY_WARNING, "Need mavlink2 for item transfer"); + gcs().send_text(MAV_SEVERITY_WARNING, "Need mavlink2 for item transfer");//Need mavlink2 for item transfer send_mission_ack(_link, msg, MAV_MISSION_UNSUPPORTED); return false; } @@ -197,7 +197,7 @@ void MissionItemProtocol::handle_mission_write_partial_list(GCS_MAVLINK &_link, if ((unsigned)packet.start_index > item_count() || (unsigned)packet.end_index > item_count() || packet.end_index < packet.start_index) { - gcs().send_text(MAV_SEVERITY_WARNING,"Flight plan update rejected"); // FIXME: Remove this anytime after 2020-01-22 + gcs().send_text(MAV_SEVERITY_WARNING,"飞行计划更新被拒绝"); // FIXME: Remove this anytime after 2020-01-22 send_mission_ack(_link, msg, MAV_MISSION_ERROR); return; } diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp index b69ac5ead3..79402a639a 100644 --- a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp +++ b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp @@ -130,7 +130,7 @@ MAV_MISSION_RESULT MissionItemProtocol_Waypoints::replace_item(const mavlink_mis void MissionItemProtocol_Waypoints::timeout() { - link->send_text(MAV_SEVERITY_WARNING, "Mission upload timeout"); + link->send_text(MAV_SEVERITY_WARNING, "任务上传超时 ");//Mission upload timeout } void MissionItemProtocol_Waypoints::truncate(const mavlink_mission_count_t &packet) diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp index 9a70b4c87f..24e031e0d6 100644 --- a/libraries/RC_Channel/RC_Channel.cpp +++ b/libraries/RC_Channel/RC_Channel.cpp @@ -480,7 +480,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_ do_aux_function(ch_option, ch_flag); break; default: - gcs().send_text(MAV_SEVERITY_WARNING, "Failed to initialise RC function (%u)", (unsigned)ch_option); + gcs().send_text(MAV_SEVERITY_WARNING, "无法初始化遥控器功能 (%u)", (unsigned)ch_option);//Failed to initialise RC function #if CONFIG_HAL_BOARD == HAL_BOARD_SITL AP_HAL::panic("RC function (%u) initialisation not handled", (unsigned)ch_option); #endif