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AP_Arming: added severities to send_statustext_all

master
Andrew Tridgell 10 years ago
parent
bc4d37c91e
commit
b65739a8cc
1 changed files with 23 additions and 23 deletions
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  1. 46
      libraries/AP_Arming/AP_Arming.cpp

46
libraries/AP_Arming/AP_Arming.cpp
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@ -76,7 +76,7 @@ bool AP_Arming::barometer_checks(bool report) @@ -76,7 +76,7 @@ bool AP_Arming::barometer_checks(bool report)
(checks_to_perform & ARMING_CHECK_BARO)) {
if (! barometer.healthy()) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Barometer not healthy!"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Barometer not healthy!"));
}
return false;
}
@ -96,7 +96,7 @@ bool AP_Arming::airspeed_checks(bool report) @@ -96,7 +96,7 @@ bool AP_Arming::airspeed_checks(bool report)
}
if (airspeed->enabled() && airspeed->use() && !airspeed->healthy()) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: airspeed not healthy"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: airspeed not healthy"));
}
return false;
}
@ -111,7 +111,7 @@ bool AP_Arming::logging_checks(bool report) @@ -111,7 +111,7 @@ bool AP_Arming::logging_checks(bool report)
(checks_to_perform & ARMING_CHECK_LOGGING)) {
if (!logging_available) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: logging not available"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: logging not available"));
}
return false;
}
@ -126,31 +126,31 @@ bool AP_Arming::ins_checks(bool report) @@ -126,31 +126,31 @@ bool AP_Arming::ins_checks(bool report)
const AP_InertialSensor &ins = ahrs.get_ins();
if (! ins.get_gyro_health_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: gyros not healthy!"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: gyros not healthy!"));
}
return false;
}
if (!skip_gyro_cal && ! ins.gyro_calibrated_ok_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: gyros not calibrated!"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: gyros not calibrated!"));
}
return false;
}
if (! ins.get_accel_health_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: accels not healthy!"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: accels not healthy!"));
}
return false;
}
if (!ahrs.healthy()) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: AHRS not healthy!"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: AHRS not healthy!"));
}
return false;
}
if (!ins.accel_calibrated_ok_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: 3D accel cal needed"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: 3D accel cal needed"));
}
return false;
}
@ -178,7 +178,7 @@ bool AP_Arming::ins_checks(bool report) @@ -178,7 +178,7 @@ bool AP_Arming::ins_checks(bool report)
}
if (hal.scheduler->millis() - last_accel_pass_ms[i] > 10000) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: inconsistent Accelerometers"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: inconsistent Accelerometers"));
}
return false;
}
@ -199,7 +199,7 @@ bool AP_Arming::ins_checks(bool report) @@ -199,7 +199,7 @@ bool AP_Arming::ins_checks(bool report)
}
if (hal.scheduler->millis() - last_gyro_pass_ms[i] > 10000) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: inconsistent gyros"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: inconsistent gyros"));
}
return false;
}
@ -223,14 +223,14 @@ bool AP_Arming::compass_checks(bool report) @@ -223,14 +223,14 @@ bool AP_Arming::compass_checks(bool report)
if (!_compass.healthy()) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Compass not healthy!"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Compass not healthy!"));
}
return false;
}
// check compass learning is on or offsets have been set
if (!_compass.learn_offsets_enabled() && !_compass.configured()) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Compass not calibrated"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Compass not calibrated"));
}
return false;
}
@ -238,7 +238,7 @@ bool AP_Arming::compass_checks(bool report) @@ -238,7 +238,7 @@ bool AP_Arming::compass_checks(bool report)
//check if compass is calibrating
if(_compass.is_calibrating()) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("Arm: Compass calibration running"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Arm: Compass calibration running"));
}
return false;
}
@ -246,7 +246,7 @@ bool AP_Arming::compass_checks(bool report) @@ -246,7 +246,7 @@ bool AP_Arming::compass_checks(bool report)
//check if compass has calibrated and requires reboot
if(_compass.compass_cal_requires_reboot()) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Compass calibrated requires reboot"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Compass calibrated requires reboot"));
}
return false;
}
@ -255,7 +255,7 @@ bool AP_Arming::compass_checks(bool report) @@ -255,7 +255,7 @@ bool AP_Arming::compass_checks(bool report)
Vector3f offsets = _compass.get_offsets();
if (offsets.length() > 600) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Compass offsets too high"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Compass offsets too high"));
}
return false;
}
@ -270,7 +270,7 @@ bool AP_Arming::compass_checks(bool report) @@ -270,7 +270,7 @@ bool AP_Arming::compass_checks(bool report)
float mag_field = _compass.get_field().length();
if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Check mag field"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Check mag field"));
}
return false;
}
@ -290,7 +290,7 @@ bool AP_Arming::gps_checks(bool report) @@ -290,7 +290,7 @@ bool AP_Arming::gps_checks(bool report)
if (home_is_set == HOME_UNSET ||
gps.status() < AP_GPS::GPS_OK_FIX_3D) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Bad GPS Position"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Bad GPS Position"));
}
return false;
}
@ -306,7 +306,7 @@ bool AP_Arming::battery_checks(bool report) @@ -306,7 +306,7 @@ bool AP_Arming::battery_checks(bool report)
if (AP_Notify::flags.failsafe_battery) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Battery failsafe on."));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Battery failsafe on."));
}
return false;
}
@ -320,7 +320,7 @@ bool AP_Arming::hardware_safety_check(bool report) @@ -320,7 +320,7 @@ bool AP_Arming::hardware_safety_check(bool report)
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Hardware Safety Switch"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Hardware Safety Switch"));
}
return false;
}
@ -335,7 +335,7 @@ bool AP_Arming::manual_transmitter_checks(bool report) @@ -335,7 +335,7 @@ bool AP_Arming::manual_transmitter_checks(bool report)
if (AP_Notify::flags.failsafe_radio) {
if (report) {
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Radio failsafe on"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Radio failsafe on"));
}
return false;
}
@ -380,7 +380,7 @@ bool AP_Arming::arm(uint8_t method) @@ -380,7 +380,7 @@ bool AP_Arming::arm(uint8_t method)
if (checks_to_perform == ARMING_CHECK_NONE) {
armed = true;
arming_method = NONE;
GCS_MAVLINK::send_statustext_all(PSTR("Throttle armed!"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Throttle armed!"));
return true;
}
@ -388,7 +388,7 @@ bool AP_Arming::arm(uint8_t method) @@ -388,7 +388,7 @@ bool AP_Arming::arm(uint8_t method)
armed = true;
arming_method = method;
GCS_MAVLINK::send_statustext_all(PSTR("Throttle armed!"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Throttle armed!"));
//TODO: Log motor arming to the dataflash
//Can't do this from this class until there is a unified logging library
@ -409,7 +409,7 @@ bool AP_Arming::disarm() @@ -409,7 +409,7 @@ bool AP_Arming::disarm()
}
armed = false;
GCS_MAVLINK::send_statustext_all(PSTR("Throttle disarmed!"));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Throttle disarmed!"));
//TODO: Log motor disarming to the dataflash
//Can't do this from this class until there is a unified logging library.

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