Copter: revised and uniformization of severity messages

ArduCopter/ArduCopter.cpp

@@ -206,7 +206,7 @@ void Copter::perf_update(void)
     if (should_log(MASK_LOG_PM))
         Log_Write_Performance();
     if (scheduler.debug()) {
-        gcs_send_text_fmt("PERF: %u/%u %lu %lu\n",
+        gcs_send_text_fmt(MAV_SEVERITY_WARNING, "PERF: %u/%u %lu %lu\n",
                           (unsigned)perf_info_get_num_long_running(),
                           (unsigned)perf_info_get_num_loops(),
                           (unsigned long)perf_info_get_max_time(),

ArduCopter/Copter.h

@@ -933,7 +933,7 @@ private:
     void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate);
     void print_hit_enter();
     void tuning();
-    void gcs_send_text_fmt(const char *fmt, ...);
+    void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
     bool start_command(const AP_Mission::Mission_Command& cmd);
     bool verify_command(const AP_Mission::Mission_Command& cmd);
     bool verify_command_callback(const AP_Mission::Mission_Command& cmd);

ArduCopter/GCS_Mavlink.cpp

@@ -1022,12 +1022,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:         // MAV ID: 21
     {
         // mark the firmware version in the tlog
-        send_text(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
+        send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING);
 
 #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
-        send_text(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
+        send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
 #endif
-        send_text(MAV_SEVERITY_WARNING, "Frame: " FRAME_CONFIG_STRING);
+        send_text(MAV_SEVERITY_INFO, "Frame: " FRAME_CONFIG_STRING);
         handle_param_request_list(msg);
         break;
     }
@@ -1518,18 +1518,18 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         case MAV_CMD_DO_SEND_BANNER: {
             result = MAV_RESULT_ACCEPTED;
 
-            send_text(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
+            send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING);
 
             #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
-            send_text(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
+            send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
             #endif
 
-            send_text(MAV_SEVERITY_WARNING, "Frame: " FRAME_CONFIG_STRING);
+            send_text(MAV_SEVERITY_INFO, "Frame: " FRAME_CONFIG_STRING);
 
             // send system ID if we can
             char sysid[40];
             if (hal.util->get_system_id(sysid)) {
-                send_text(MAV_SEVERITY_WARNING, sysid);
+                send_text(MAV_SEVERITY_INFO, sysid);
             }
 
             break;
@@ -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_WARNING,"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_WARNING,"bad rally point message count");
+            send_text(MAV_SEVERITY_NOTICE,"bad rally point message count");
             break;
         }
 
@@ -1867,27 +1867,27 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
     //send a rally point to the GCS
     case MAVLINK_MSG_ID_RALLY_FETCH_POINT: {
-        //send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 1"); // #### TEMP
+        //send_text(MAV_SEVERITY_INFO, "## getting rally point in GCS_Mavlink.cpp 1"); // #### TEMP
 
         mavlink_rally_fetch_point_t packet;
         mavlink_msg_rally_fetch_point_decode(msg, &packet);
 
-        //send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 2"); // #### TEMP
+        //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_WARNING, "bad rally point index");
+            send_text(MAV_SEVERITY_NOTICE, "bad rally point index");
             break;
         }
 
-        //send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 3"); // #### TEMP
+        //send_text(MAV_SEVERITY_INFO, "## getting rally point in GCS_Mavlink.cpp 3"); // #### TEMP
 
         RallyLocation rally_point;
         if (!copter.rally.get_rally_point_with_index(packet.idx, rally_point)) {
-           send_text(MAV_SEVERITY_WARNING, "failed to set rally point");
+           send_text(MAV_SEVERITY_NOTICE, "failed to set rally point");
            break;
         }
 
-        //send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 4"); // #### TEMP
+        //send_text(MAV_SEVERITY_INFO, "## getting rally point in GCS_Mavlink.cpp 4"); // #### TEMP
 
         mavlink_msg_rally_point_send_buf(msg,
                                          chan, msg->sysid, msg->compid, packet.idx,
@@ -1895,7 +1895,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                                          rally_point.alt, rally_point.break_alt, rally_point.land_dir,
                                          rally_point.flags);
 
-        //send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 5"); // #### TEMP
+        //send_text(MAV_SEVERITY_INFO, "## getting rally point in GCS_Mavlink.cpp 5"); // #### TEMP
 
         break;
     }
@@ -1965,7 +1965,7 @@ void Copter::mavlink_delay_cb()
     }
     if (tnow - last_5s > 5000) {
         last_5s = tnow;
-        gcs_send_text(MAV_SEVERITY_WARNING, "Initialising APM...");
+        gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM...");
     }
     check_usb_mux();
 
@@ -2039,10 +2039,10 @@ void Copter::gcs_send_text(MAV_SEVERITY severity, const char *str)
  *  only one fits in the queue, so if you send more than one before the
  *  last one gets into the serial buffer then the old one will be lost
  */
-void Copter::gcs_send_text_fmt(const char *fmt, ...)
+void Copter::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
 {
     va_list arg_list;
-    gcs[0].pending_status.severity = (uint8_t)MAV_SEVERITY_WARNING;
+    gcs[0].pending_status.severity = (uint8_t)severity;
     va_start(arg_list, fmt);
     hal.util->vsnprintf((char *)gcs[0].pending_status.text,
             sizeof(gcs[0].pending_status.text), fmt, arg_list);

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_CRITICAL, "Erasing logs\n");
+    gcs_send_text(MAV_SEVERITY_INFO, "Erasing logs\n");
     DataFlash.EraseAll();
-    gcs_send_text(MAV_SEVERITY_CRITICAL, "Log erase complete\n");
+    gcs_send_text(MAV_SEVERITY_INFO, "Log erase complete\n");
 }
 
 #if AUTOTUNE_ENABLED == ENABLED
@@ -807,12 +807,12 @@ void Copter::log_init(void)
 {
     DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
     if (!DataFlash.CardInserted()) {
-        gcs_send_text(MAV_SEVERITY_CRITICAL, "No dataflash inserted");
+        gcs_send_text(MAV_SEVERITY_NOTICE, "No dataflash inserted");
         g.log_bitmask.set(0);
     } else if (DataFlash.NeedPrep()) {
-        gcs_send_text(MAV_SEVERITY_CRITICAL, "Preparing log system");
+        gcs_send_text(MAV_SEVERITY_INFO, "Preparing log system");
         DataFlash.Prep();
-        gcs_send_text(MAV_SEVERITY_CRITICAL, "Prepared log system");
+        gcs_send_text(MAV_SEVERITY_INFO, "Prepared log system");
         for (uint8_t i=0; i<num_gcs; i++) {
             gcs[i].reset_cli_timeout();
         }

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("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("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

@@ -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_CRITICAL, "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_CRITICAL, "CURRENT");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "CURRENT");
     } else{
-        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "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_CRITICAL, "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_CRITICAL, "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

@@ -1007,19 +1007,19 @@ void Copter::autotune_update_gcs(uint8_t message_id)
 {
     switch (message_id) {
         case AUTOTUNE_MESSAGE_STARTED:
-            gcs_send_text(MAV_SEVERITY_CRITICAL,"AutoTune: Started");
+            gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Started");
             break;
         case AUTOTUNE_MESSAGE_STOPPED:
-            gcs_send_text(MAV_SEVERITY_CRITICAL,"AutoTune: Stopped");
+            gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Stopped");
             break;
         case AUTOTUNE_MESSAGE_SUCCESS:
-            gcs_send_text(MAV_SEVERITY_CRITICAL,"AutoTune: Success");
+            gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Success");
             break;
         case AUTOTUNE_MESSAGE_FAILED:
-            gcs_send_text(MAV_SEVERITY_CRITICAL,"AutoTune: Failed");
+            gcs_send_text(MAV_SEVERITY_NOTICE,"AutoTune: Failed");
             break;
         case AUTOTUNE_MESSAGE_SAVED_GAINS:
-            gcs_send_text(MAV_SEVERITY_CRITICAL,"AutoTune: Saved Gains");
+            gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Saved Gains");
             break;
     }
 }

ArduCopter/crash_check.cpp

@@ -47,7 +47,7 @@ void Copter::crash_check()
         // log an error in the dataflash
         Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
         // send message to gcs
-        gcs_send_text(MAV_SEVERITY_CRITICAL,"Crash: Disarming");
+        gcs_send_text(MAV_SEVERITY_EMERGENCY,"Crash: Disarming");
         // disarm motors
         init_disarm_motors();
     }
@@ -136,7 +136,7 @@ void Copter::parachute_check()
 void Copter::parachute_release()
 {
     // send message to gcs and dataflash
-    gcs_send_text(MAV_SEVERITY_CRITICAL,"Parachute: Released!");
+    gcs_send_text(MAV_SEVERITY_INFO,"Parachute: Released!");
     Log_Write_Event(DATA_PARACHUTE_RELEASED);
 
     // disarm motors
@@ -159,7 +159,7 @@ void Copter::parachute_manual_release()
     // do not release if we are landed or below the minimum altitude above home
     if (ap.land_complete) {
         // warn user of reason for failure
-        gcs_send_text(MAV_SEVERITY_CRITICAL,"Parachute: Landed");
+        gcs_send_text(MAV_SEVERITY_INFO,"Parachute: Landed");
         // log an error in the dataflash
         Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_LANDED);
         return;
@@ -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_CRITICAL,"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

@@ -85,7 +85,7 @@ void Copter::esc_calibration_passthrough()
     motors.set_update_rate(50);
 
     // send message to GCS
-    gcs_send_text(MAV_SEVERITY_CRITICAL,"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_CRITICAL,"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_CRITICAL,"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_CRITICAL,"Low Battery!");
+    gcs_send_text(MAV_SEVERITY_WARNING,"Low Battery!");
     Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
 
 }

ArduCopter/motors.cpp

@@ -149,7 +149,7 @@ 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_CRITICAL, "ARMING MOTORS");
+    gcs_send_text(MAV_SEVERITY_INFO, "ARMING MOTORS");
 #endif
 
     // Remember Orientation
@@ -866,7 +866,7 @@ void Copter::init_disarm_motors()
     }
 
 #if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    gcs_send_text(MAV_SEVERITY_CRITICAL, "DISARMING MOTORS");
+    gcs_send_text(MAV_SEVERITY_INFO, "DISARMING MOTORS");
 #endif
 
     // save compass offsets learned by the EKF
@@ -936,7 +936,7 @@ 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_CRITICAL,"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_WARNING, "Calibrating barometer");
+    gcs_send_text(MAV_SEVERITY_NOTICE, "Calibrating barometer");
     if (full_calibration) {
         barometer.calibrate();
     }else{
         barometer.update_calibration();
     }
-    gcs_send_text(MAV_SEVERITY_WARNING, "barometer calibration complete");
+    gcs_send_text(MAV_SEVERITY_INFO, "barometer calibration complete");
 }
 
 // return barometric altitude in centimeters

ArduCopter/switches.cpp

@@ -597,7 +597,7 @@ void Copter::save_trim()
     float pitch_trim = ToRad((float)channel_pitch->control_in/100.0f);
     ahrs.add_trim(roll_trim, pitch_trim);
     Log_Write_Event(DATA_SAVE_TRIM);
-    gcs_send_text(MAV_SEVERITY_CRITICAL, "Trim saved");
+    gcs_send_text(MAV_SEVERITY_INFO, "Trim saved");
 }
 
 // auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions