Copter: revisions to text strings sent to GCS

ArduCopter/AP_State.cpp

@@ -43,15 +43,15 @@ void Copter::set_simple_mode(uint8_t b)
     if(ap.simple_mode != b){
         if(b == 0){
             Log_Write_Event(DATA_SET_SIMPLE_OFF);
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Simple:OFF");
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode off");
         }else if(b == 1){
             Log_Write_Event(DATA_SET_SIMPLE_ON);
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Simple:ON");
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode on");
         }else{
             // initialise super simple heading
             update_super_simple_bearing(true);
             Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SuperSimple:ON");
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on");
         }
         ap.simple_mode = b;
     }

ArduCopter/GCS_Mavlink.cpp

@@ -1841,12 +1841,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
         if (packet.idx >= copter.rally.get_rally_total() ||
             packet.idx >= copter.rally.get_rally_max()) {
-            send_text(MAV_SEVERITY_NOTICE,"bad rally point message ID");
+            send_text(MAV_SEVERITY_NOTICE,"Bad rally point message ID");
             break;
         }
 
         if (packet.count != copter.rally.get_rally_total()) {
-            send_text(MAV_SEVERITY_NOTICE,"bad rally point message count");
+            send_text(MAV_SEVERITY_NOTICE,"Bad rally point message count");
             break;
         }
 
@@ -1859,7 +1859,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         rally_point.flags = packet.flags;
 
         if (!copter.rally.set_rally_point_with_index(packet.idx, rally_point)) {
-            send_text(MAV_SEVERITY_CRITICAL, "error setting rally point");
+            send_text(MAV_SEVERITY_CRITICAL, "Error setting rally point");
         }
 
         break;
@@ -1875,7 +1875,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         //send_text(MAV_SEVERITY_INFO, "## getting rally point in GCS_Mavlink.cpp 2"); // #### TEMP
 
         if (packet.idx > copter.rally.get_rally_total()) {
-            send_text(MAV_SEVERITY_NOTICE, "bad rally point index");
+            send_text(MAV_SEVERITY_NOTICE, "Bad rally point index");
             break;
         }
 
@@ -1883,7 +1883,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
         RallyLocation rally_point;
         if (!copter.rally.get_rally_point_with_index(packet.idx, rally_point)) {
-           send_text(MAV_SEVERITY_NOTICE, "failed to set rally point");
+           send_text(MAV_SEVERITY_NOTICE, "Failed to set rally point");
            break;
         }
 
@@ -1971,7 +1971,7 @@ 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");
     }
     check_usb_mux();
 

ArduCopter/Log.cpp

@@ -147,9 +147,9 @@ int8_t Copter::process_logs(uint8_t argc, const Menu::arg *argv)
 
 void Copter::do_erase_logs(void)
 {
-    gcs_send_text(MAV_SEVERITY_INFO, "Erasing logs\n");
+    gcs_send_text(MAV_SEVERITY_INFO, "Erasing logs");
     DataFlash.EraseAll();
-    gcs_send_text(MAV_SEVERITY_INFO, "Log erase complete\n");
+    gcs_send_text(MAV_SEVERITY_INFO, "Log erase complete");
 }
 
 #if AUTOTUNE_ENABLED == ENABLED
@@ -807,7 +807,7 @@ void Copter::log_init(void)
 {
     DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
     if (!DataFlash.CardInserted()) {
-        gcs_send_text(MAV_SEVERITY_NOTICE, "No dataflash inserted");
+        gcs_send_text(MAV_SEVERITY_WARNING, "No dataflash card inserted");
         g.log_bitmask.set(0);
     } else if (DataFlash.NeedPrep()) {
         gcs_send_text(MAV_SEVERITY_INFO, "Preparing log system");

ArduCopter/commands_logic.cpp

@@ -610,7 +610,7 @@ bool Copter::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
 
     // check if timer has run out
     if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
-        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Command #%i",cmd.index);
+        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
         return true;
     }else{
         return false;
@@ -692,7 +692,7 @@ bool Copter::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
 
     // check if timer has run out
     if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
-        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Command #%i",cmd.index);
+        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
         return true;
     }else{
         return false;

ArduCopter/compassmot.cpp

@@ -37,7 +37,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
 
     // check compass is enabled
     if (!g.compass_enabled) {
-        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "compass disabled\n");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Compass disabled");
         ap.compass_mot = false;
         return 1;
     }
@@ -46,7 +46,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
     compass.read();
     for (uint8_t i=0; i<compass.get_count(); i++) {
         if (!compass.healthy(i)) {
-            gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "check compass");
+            gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Check compass");
             ap.compass_mot = false;
             return 1;
         }
@@ -63,7 +63,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
     // check throttle is at zero
     read_radio();
     if (channel_throttle->control_in != 0) {
-        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "thr not zero");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Throttle not zero");
         ap.compass_mot = false;
         return 1;
     }
@@ -95,13 +95,13 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
     AP_Notify::flags.esc_calibration = true;
 
     // warn user we are starting calibration
-    gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "STARTING CALIBRATION");
+    gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Starting calibration");
 
     // inform what type of compensation we are attempting
     if (comp_type == AP_COMPASS_MOT_COMP_CURRENT) {
-        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "CURRENT");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Current");
     } else{
-        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "THROTTLE");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Throttle");
     }
 
     // disable throttle and battery failsafe
@@ -245,10 +245,10 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
         }
         compass.save_motor_compensation();
         // display success message
-        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Calibration Successful!");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Calibration successful");
     } else {
         // compensation vector never updated, report failure
-        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_NOTICE, "Failed!");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_NOTICE, "Failed");
         compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED);
     }
 

ArduCopter/control_autotune.cpp

@@ -243,7 +243,7 @@ bool Copter::autotune_start(bool ignore_checks)
         return false;
     }
 
-    // initialize vertical speeds and acceleration
+    // initialize vertical speeds and leash lengths
     pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
     pos_control.set_accel_z(g.pilot_accel_z);
 
@@ -1023,7 +1023,7 @@ void Copter::autotune_update_gcs(uint8_t message_id)
             gcs_send_text(MAV_SEVERITY_NOTICE,"AutoTune: Failed");
             break;
         case AUTOTUNE_MESSAGE_SAVED_GAINS:
-            gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Saved Gains");
+            gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Saved gains");
             break;
     }
 }

ArduCopter/crash_check.cpp

@@ -136,7 +136,7 @@ void Copter::parachute_check()
 void Copter::parachute_release()
 {
     // send message to gcs and dataflash
-    gcs_send_text(MAV_SEVERITY_INFO,"Parachute: Released!");
+    gcs_send_text(MAV_SEVERITY_INFO,"Parachute: Released");
     Log_Write_Event(DATA_PARACHUTE_RELEASED);
 
     // disarm motors
@@ -168,7 +168,7 @@ void Copter::parachute_manual_release()
     // do not release if we are landed or below the minimum altitude above home
     if ((parachute.alt_min() != 0 && (current_loc.alt < (int32_t)parachute.alt_min() * 100))) {
         // warn user of reason for failure
-        gcs_send_text(MAV_SEVERITY_ALERT,"Parachute: Too Low");
+        gcs_send_text(MAV_SEVERITY_ALERT,"Parachute: Too low");
         // log an error in the dataflash
         Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_TOO_LOW);
         return;

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(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,"ESC calibration: Restart board");
                 // turn on esc calibration notification
                 AP_Notify::flags.esc_calibration = true;
                 // block until we restart
@@ -85,7 +85,7 @@ void Copter::esc_calibration_passthrough()
     motors.set_update_rate(50);
 
     // send message to GCS
-    gcs_send_text(MAV_SEVERITY_INFO,"ESC Calibration: passing pilot throttle to ESCs");
+    gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs");
 
     while(1) {
         // arm motors
@@ -115,7 +115,7 @@ void Copter::esc_calibration_auto()
     motors.set_update_rate(50);
 
     // send message to GCS
-    gcs_send_text(MAV_SEVERITY_INFO,"ESC Calibration: auto calibration");
+    gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Auto calibration");
 
     // arm and enable motors
     motors.armed(true);
@@ -131,7 +131,7 @@ void Copter::esc_calibration_auto()
     // wait for safety switch to be pressed
     while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
         if (!printed_msg) {
-            gcs_send_text(MAV_SEVERITY_INFO,"ESC Calibration: push safety switch");
+            gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
             printed_msg = true;
         }
         delay(10);

ArduCopter/events.cpp

@@ -159,7 +159,7 @@ void Copter::failsafe_battery_event(void)
     set_failsafe_battery(true);
 
     // warn the ground station and log to dataflash
-    gcs_send_text(MAV_SEVERITY_WARNING,"Low Battery!");
+    gcs_send_text(MAV_SEVERITY_WARNING,"Low battery");
     Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
 
 }

ArduCopter/motor_test.cpp

@@ -86,7 +86,7 @@ bool Copter::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
 
     // check if safety switch has been pushed
     if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
-        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Safety Switch");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Safety switch");
         return false;
     }
 

ArduCopter/motors.cpp

@@ -153,7 +153,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
     }
 
 #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, "Arming motors");
 #endif
 
     // Remember Orientation
@@ -848,7 +848,7 @@ void Copter::init_disarm_motors()
     }
 
 #if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    gcs_send_text(MAV_SEVERITY_INFO, "DISARMING MOTORS");
+    gcs_send_text(MAV_SEVERITY_INFO, "Disarming motors");
 #endif
 
     // save compass offsets learned by the EKF
@@ -918,7 +918,7 @@ void Copter::lost_vehicle_check()
         if (soundalarm_counter >= LOST_VEHICLE_DELAY) {
             if (AP_Notify::flags.vehicle_lost == false) {
                 AP_Notify::flags.vehicle_lost = true;
-                gcs_send_text(MAV_SEVERITY_NOTICE,"Locate Copter Alarm!");
+                gcs_send_text(MAV_SEVERITY_NOTICE,"Locate Copter alarm");
             }
         } else {
             soundalarm_counter++;

ArduCopter/sensors.cpp

@@ -4,13 +4,13 @@
 
 void Copter::init_barometer(bool full_calibration)
 {
-    gcs_send_text(MAV_SEVERITY_NOTICE, "Calibrating barometer");
+    gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
     if (full_calibration) {
         barometer.calibrate();
     }else{
         barometer.update_calibration();
     }
-    gcs_send_text(MAV_SEVERITY_INFO, "barometer calibration complete");
+    gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
 }
 
 // return barometric altitude in centimeters