Rover: revise text messages

Text revisions on Rover. Uniformization on messages severity.

APMrover2/GCS_Mavlink.cpp

@@ -878,7 +878,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             uint8_t result = MAV_RESULT_UNSUPPORTED;
 
             // do command
-            send_text(MAV_SEVERITY_INFO,"command received: ");
+            send_text(MAV_SEVERITY_INFO,"Command received: ");
 
             switch(packet.command) {
 
@@ -1382,7 +1382,7 @@ void Rover::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();
 

APMrover2/commands.cpp

@@ -30,7 +30,7 @@ void Rover::set_next_WP(const struct Location& loc)
     // location as the previous waypoint, to prevent immediately
     // considering the waypoint complete
     if (location_passed_point(current_loc, prev_WP, next_WP)) {
-        gcs_send_text(MAV_SEVERITY_NOTICE, "Resetting prev_WP");
+        gcs_send_text(MAV_SEVERITY_NOTICE, "Resetting previous WP");
         prev_WP = current_loc;
     }
 
@@ -63,7 +63,7 @@ void Rover::init_home()
         return;
     }
 
-	gcs_send_text(MAV_SEVERITY_INFO, "init home");
+	gcs_send_text(MAV_SEVERITY_INFO, "Init HOME");
 
     ahrs.set_home(gps.location());
 	home_is_set = HOME_SET_NOT_LOCKED;

APMrover2/commands_logic.cpp

@@ -117,7 +117,7 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
 void Rover::exit_mission()
 {
     if (control_mode == AUTO) {
-        gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "No commands. Can't set AUTO - setting HOLD");
+        gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "No commands. Can't set AUTO. Setting HOLD");
         set_mode(HOLD);
     }
 }
@@ -164,7 +164,7 @@ bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
                 // this is a command that doesn't require verify
                 return true;
             }
-            gcs_send_text(MAV_SEVERITY_CRITICAL,"verify_conditon: Unsupported command");
+            gcs_send_text(MAV_SEVERITY_CRITICAL,"Verify conditon. Unsupported command");
             return true;
 	}
     return false;
@@ -203,7 +203,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
         // Check if we need to loiter at this waypoint
         if (loiter_time_max > 0) {
             if (loiter_time == 0) {  // check if we are just starting loiter
-                gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Waypoint #%i - Loiter for %i seconds",
+                gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%i. Loiter for %i seconds",
                                   (unsigned)cmd.index,
                                   (unsigned)loiter_time_max);
                 // record the current time i.e. start timer
@@ -214,7 +214,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
                 return false;
             }
         } else {
-            gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Waypoint #%i dist %um",
+            gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%i. Distance %um",
                               (unsigned)cmd.index,
                               (unsigned)get_distance(current_loc, next_WP));
         }
@@ -228,7 +228,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
         // check if we have gone futher past the wp then last time and output new message if we have
         if ((uint32_t)distance_past_wp != (uint32_t)get_distance(current_loc, next_WP)) {
             distance_past_wp = get_distance(current_loc, next_WP);
-            gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed Waypoint #%i dist %um",
+            gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed waypoint #%i. Distance %um",
                               (unsigned)cmd.index,
                               (unsigned)distance_past_wp);
         }
@@ -248,14 +248,14 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
 bool Rover::verify_RTL()
 {
 	if (wp_distance <= g.waypoint_radius) {
-		gcs_send_text(MAV_SEVERITY_INFO,"Reached Destination");
+		gcs_send_text(MAV_SEVERITY_INFO,"Reached destination");
                 rtl_complete = true;
 		return true;
 	}
 
     // have we gone past the waypoint?
     if (location_passed_point(current_loc, prev_WP, next_WP)) {
-        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Destination: Distance away %um",
+        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached destination. Distance away %um",
                           (unsigned)get_distance(current_loc, next_WP));
         rtl_complete = true;
         return true;

APMrover2/sensors.cpp

@@ -6,7 +6,7 @@ void Rover::init_barometer(void)
 {
     gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
     barometer.calibrate();
-    gcs_send_text(MAV_SEVERITY_INFO, "barometer calibration complete");
+    gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
 }
 
 void Rover::init_sonar(void)
@@ -83,7 +83,7 @@ void Rover::read_sonars(void)
                 obstacle.detected_count++;
             }
             if (obstacle.detected_count == g.sonar_debounce) {
-                gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Sonar obstacle %u cm",
+                gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar obstacle %u cm",
                                   (unsigned)obstacle.sonar1_distance_cm);
             }
             obstacle.detected_time_ms = AP_HAL::millis();

APMrover2/system.cpp

@@ -214,10 +214,10 @@ void Rover::startup_ground(void)
 {
     set_mode(INITIALISING);
     
-	gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> GROUND START");
+	gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start");
 
 	#if(GROUND_START_DELAY > 0)
-		gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With Delay");
+		gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay");
 		delay(GROUND_START_DELAY * 1000);
 	#endif
 
@@ -241,7 +241,7 @@ void Rover::startup_ground(void)
     ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
     ins.set_dataflash(&DataFlash);
 
-	gcs_send_text(MAV_SEVERITY_INFO,"\n\n Ready to drive.");
+	gcs_send_text(MAV_SEVERITY_INFO,"Ready to drive");
 }
 
 /*
@@ -384,12 +384,12 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
 
 void Rover::startup_INS_ground(void)
 {
-    gcs_send_text(MAV_SEVERITY_INFO, "Warming up ADC...");
+    gcs_send_text(MAV_SEVERITY_INFO, "Warming up ADC");
  	mavlink_delay(500);
 
 	// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
 	// -----------------------
-    gcs_send_text(MAV_SEVERITY_INFO, "Beginning INS calibration; do not move vehicle");
+    gcs_send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle");
 	mavlink_delay(1000);
 
     ahrs.init();