APM_OBC: status text severity to INFO or ERROR

libraries/APM_OBC/APM_OBC.cpp

@@ -131,7 +131,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
     // we always check for fence breach
     if (geofence_breached || check_altlimit()) {
         if (!_terminate) {
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Fence TERMINATE");
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Fence TERMINATE");
             _terminate.set(1);
         }
     }
@@ -142,7 +142,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
         _rc_fail_time != 0 && 
         (hal.scheduler->millis() - last_valid_rc_ms) > (unsigned)_rc_fail_time.get()) {
         if (!_terminate) {
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "RC failure terminate");
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "RC failure terminate");
             _terminate.set(1);
         }
     }
@@ -164,7 +164,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
         // we startup in preflight mode. This mode ends when
         // we first enter auto.
         if (mode == OBC_AUTO) {
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Starting AFS_AUTO");
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Starting AFS_AUTO");
             _state = STATE_AUTO;
         }
         break;
@@ -172,7 +172,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
     case STATE_AUTO:
         // this is the normal mode. 
         if (!gcs_link_ok) {
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "State DATA_LINK_LOSS");
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_ERROR, "State DATA_LINK_LOSS");
             _state = STATE_DATA_LINK_LOSS;
             if (_wp_comms_hold) {
                 _saved_wp = mission.get_current_nav_cmd().index;
@@ -206,12 +206,12 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
             // losing GPS lock when data link is lost
             // leads to termination
             if (!_terminate) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Dual loss TERMINATE");
+                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Dual loss TERMINATE");
                 _terminate.set(1);
             }
         } else if (gcs_link_ok) {
             _state = STATE_AUTO;
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "GCS OK");
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GCS OK");
             // we only return to the mission if we have not exceeded AFS_MAX_COM_LOSS
             if (_saved_wp != 0 && 
                 (_max_comms_loss <= 0 || 
@@ -231,7 +231,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
                 _terminate.set(1);
             }
         } else if (gps_lock_ok) {
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "GPS OK");
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GPS OK");
             _state = STATE_AUTO;
             // we only return to the mission if we have not exceeded AFS_MAX_GPS_LOSS
             if (_saved_wp != 0 &&