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Copter: eliminate GCS_MAVLINK::send_statustext_all

master
Peter Barker 8 years ago committed by Francisco Ferreira
parent
69c7402c9c
commit
592729733e
4 changed files with 29 additions and 29 deletions
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  1. 8
      ArduCopter/AP_Arming.cpp
  2. 6
      ArduCopter/AP_State.cpp
  3. 24
      ArduCopter/control_autotune.cpp
  4. 20
      ArduPlane/AP_Arming.cpp

8
ArduCopter/AP_Arming.cpp
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@ -156,7 +156,7 @@ bool AP_Arming_Copter::fence_checks(bool display_failure)
const char *fail_msg = nullptr; const char *fail_msg = nullptr;
if (!copter.fence.pre_arm_check(fail_msg)) { if (!copter.fence.pre_arm_check(fail_msg)) {
if (display_failure && fail_msg != nullptr) { if (display_failure && fail_msg != nullptr) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: %s", fail_msg); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", fail_msg);
} }
return false; return false;
} }
@ -421,7 +421,7 @@ bool AP_Arming_Copter::pre_arm_gps_checks(bool display_failure)
if (display_failure) { if (display_failure) {
const char *reason = ahrs.prearm_failure_reason(); const char *reason = ahrs.prearm_failure_reason();
if (reason) { if (reason) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
} else { } else {
if (!mode_requires_gps && fence_requires_gps) { if (!mode_requires_gps && fence_requires_gps) {
// clarify to user why they need GPS in non-GPS flight mode // clarify to user why they need GPS in non-GPS flight mode
@ -545,7 +545,7 @@ bool AP_Arming_Copter::pre_arm_proximity_check(bool display_failure)
// display error if something is within 60cm // display error if something is within 60cm
if (distance <= 0.6f) { if (distance <= 0.6f) {
if (display_failure) { if (display_failure) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Proximity %d deg, %4.2fm", (int)angle_deg, (double)distance); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Proximity %d deg, %4.2fm", (int)angle_deg, (double)distance);
} }
return false; return false;
} }
@ -699,7 +699,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
const char *fail_msg = nullptr; const char *fail_msg = nullptr;
if (!copter.fence.pre_arm_check(fail_msg)) { if (!copter.fence.pre_arm_check(fail_msg)) {
if (display_failure && fail_msg != nullptr) { if (display_failure && fail_msg != nullptr) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Arm: %s", fail_msg); gcs().send_text(MAV_SEVERITY_CRITICAL, "Arm: %s", fail_msg);
} }
return false; return false;
} }

6
ArduCopter/AP_State.cpp
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@ -47,18 +47,18 @@ void Copter::set_simple_mode(uint8_t b)
switch (b) { switch (b) {
case 0: case 0:
Log_Write_Event(DATA_SET_SIMPLE_OFF); Log_Write_Event(DATA_SET_SIMPLE_OFF);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode off"); gcs().send_text(MAV_SEVERITY_INFO, "SIMPLE mode off");
break; break;
case 1: case 1:
Log_Write_Event(DATA_SET_SIMPLE_ON); Log_Write_Event(DATA_SET_SIMPLE_ON);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode on"); gcs().send_text(MAV_SEVERITY_INFO, "SIMPLE mode on");
break; break;
case 2: case 2:
default: default:
// initialise super simple heading // initialise super simple heading
update_super_simple_bearing(true); update_super_simple_bearing(true);
Log_Write_Event(DATA_SET_SUPERSIMPLE_ON); Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on"); gcs().send_text(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on");
break; break;
} }
ap.simple_mode = b; ap.simple_mode = b;

24
ArduCopter/control_autotune.cpp
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@ -298,21 +298,21 @@ const char *Copter::autotune_level_issue_string() const
void Copter::autotune_send_step_string() void Copter::autotune_send_step_string()
{ {
if (autotune_state.pilot_override) { if (autotune_state.pilot_override) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: Paused: Pilot Override Active"); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Paused: Pilot Override Active");
return; return;
} }
switch (autotune_state.step) { switch (autotune_state.step) {
case AUTOTUNE_STEP_WAITING_FOR_LEVEL: case AUTOTUNE_STEP_WAITING_FOR_LEVEL:
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: WFL (%s) (%f > %f)", autotune_level_issue_string(), (double)(autotune_level_problem.current*0.01f), (double)(autotune_level_problem.maximum*0.01f)); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: WFL (%s) (%f > %f)", autotune_level_issue_string(), (double)(autotune_level_problem.current*0.01f), (double)(autotune_level_problem.maximum*0.01f));
return; return;
case AUTOTUNE_STEP_UPDATE_GAINS: case AUTOTUNE_STEP_UPDATE_GAINS:
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: UPDATING_GAINS"); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: UPDATING_GAINS");
return; return;
case AUTOTUNE_STEP_TWITCHING: case AUTOTUNE_STEP_TWITCHING:
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: TWITCHING"); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: TWITCHING");
return; return;
} }
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: unknown step"); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: unknown step");
} }
const char *Copter::autotune_type_string() const const char *Copter::autotune_type_string() const
@ -367,26 +367,26 @@ void Copter::autotune_do_gcs_announcements()
break; break;
} }
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: (%c) %s", axis, autotune_type_string()); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: (%c) %s", axis, autotune_type_string());
autotune_send_step_string(); autotune_send_step_string();
if (!is_zero(lean_angle)) { if (!is_zero(lean_angle)) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: lean=%f target=%f", (double)lean_angle, (double)autotune_target_angle); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: lean=%f target=%f", (double)lean_angle, (double)autotune_target_angle);
} }
if (!is_zero(rotation_rate)) { if (!is_zero(rotation_rate)) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: rotation=%f target=%f", (double)(rotation_rate*0.01f), (double)(autotune_target_rate*0.01f)); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: rotation=%f target=%f", (double)(rotation_rate*0.01f), (double)(autotune_target_rate*0.01f));
} }
switch (autotune_state.tune_type) { switch (autotune_state.tune_type) {
case AUTOTUNE_TYPE_RD_UP: case AUTOTUNE_TYPE_RD_UP:
case AUTOTUNE_TYPE_RD_DOWN: case AUTOTUNE_TYPE_RD_DOWN:
case AUTOTUNE_TYPE_RP_UP: case AUTOTUNE_TYPE_RP_UP:
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: p=%f d=%f", (double)tune_rp, (double)tune_rd); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: p=%f d=%f", (double)tune_rp, (double)tune_rd);
break; break;
case AUTOTUNE_TYPE_SP_DOWN: case AUTOTUNE_TYPE_SP_DOWN:
case AUTOTUNE_TYPE_SP_UP: case AUTOTUNE_TYPE_SP_UP:
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: p=%f accel=%f", (double)tune_sp, (double)tune_accel); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: p=%f accel=%f", (double)tune_sp, (double)tune_accel);
break; break;
} }
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: success %u/%u", autotune_counter, AUTOTUNE_SUCCESS_COUNT); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: success %u/%u", autotune_counter, AUTOTUNE_SUCCESS_COUNT);
autotune_announce_time = now; autotune_announce_time = now;
} }
@ -575,7 +575,7 @@ void Copter::autotune_attitude_control()
// if we have been level for a sufficient amount of time (0.5 seconds) move onto tuning step // if we have been level for a sufficient amount of time (0.5 seconds) move onto tuning step
if (millis() - autotune_step_start_time >= AUTOTUNE_REQUIRED_LEVEL_TIME_MS) { if (millis() - autotune_step_start_time >= AUTOTUNE_REQUIRED_LEVEL_TIME_MS) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: Twitch"); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Twitch");
// initiate variables for next step // initiate variables for next step
autotune_state.step = AUTOTUNE_STEP_TWITCHING; autotune_state.step = AUTOTUNE_STEP_TWITCHING;
autotune_step_start_time = millis(); autotune_step_start_time = millis();

20
ArduPlane/AP_Arming.cpp
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@ -49,21 +49,21 @@ bool AP_Arming_Plane::pre_arm_checks(bool report)
if (plane.aparm.roll_limit_cd < 300) { if (plane.aparm.roll_limit_cd < 300) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: LIM_ROLL_CD too small (%u)", plane.aparm.roll_limit_cd); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_ROLL_CD too small (%u)", plane.aparm.roll_limit_cd);
} }
ret = false; ret = false;
} }
if (plane.aparm.pitch_limit_max_cd < 300) { if (plane.aparm.pitch_limit_max_cd < 300) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MAX too small (%u)", plane.aparm.pitch_limit_max_cd); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MAX too small (%u)", plane.aparm.pitch_limit_max_cd);
} }
ret = false; ret = false;
} }
if (plane.aparm.pitch_limit_min_cd > -300) { if (plane.aparm.pitch_limit_min_cd > -300) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MIN too large (%u)", plane.aparm.pitch_limit_min_cd); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MIN too large (%u)", plane.aparm.pitch_limit_min_cd);
} }
ret = false; ret = false;
} }
@ -73,21 +73,21 @@ bool AP_Arming_Plane::pre_arm_checks(bool report)
plane.g.throttle_fs_value < plane.g.throttle_fs_value <
plane.channel_throttle->get_radio_max()) { plane.channel_throttle->get_radio_max()) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Invalid THR_FS_VALUE for rev throttle"); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Invalid THR_FS_VALUE for rev throttle");
} }
ret = false; ret = false;
} }
if (plane.quadplane.available() && plane.scheduler.get_loop_rate_hz() < 100) { if (plane.quadplane.available() && plane.scheduler.get_loop_rate_hz() < 100) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: quadplane needs SCHED_LOOP_RATE > 100"); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: quadplane needs SCHED_LOOP_RATE > 100");
} }
ret = false; ret = false;
} }
if (plane.control_mode == AUTO && plane.mission.num_commands() <= 1) { if (plane.control_mode == AUTO && plane.mission.num_commands() <= 1) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: No mission loaded"); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: No mission loaded");
} }
ret = false; ret = false;
} }
@ -95,7 +95,7 @@ bool AP_Arming_Plane::pre_arm_checks(bool report)
// check adsb avoidance failsafe // check adsb avoidance failsafe
if (plane.failsafe.adsb) { if (plane.failsafe.adsb) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected");
} }
ret = false; ret = false;
} }
@ -104,7 +104,7 @@ bool AP_Arming_Plane::pre_arm_checks(bool report)
if (plane.last_mixer_crc == -1) { if (plane.last_mixer_crc == -1) {
if (report) { if (report) {
// if you ever get this error, a reboot is recommended. // if you ever get this error, a reboot is recommended.
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,"PreArm: Mixer error"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Mixer error");
} }
ret = false; ret = false;
} }
@ -127,9 +127,9 @@ bool AP_Arming_Plane::ins_checks(bool report)
if (report) { if (report) {
const char *reason = ahrs.prearm_failure_reason(); const char *reason = ahrs.prearm_failure_reason();
if (reason) { if (reason) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
} else { } else {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: AHRS not healthy"); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: AHRS not healthy");
} }
} }
return false; return false;

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