fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-01 12:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Mission feasibility checker: Improve output messages for humans

Browse Source 
Text to speech will work better with these messages and some of them exceeded the 50 character limit.
This commit is contained in:
Lorenz Meier
2017-07-09 13:54:00 +02:00
parent eb5b153d10
commit 099a6dfd3e
1 changed files with 12 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_feasibility_checker.cpp
+12 -12
View File
@@ -394,7 +394,7 @@ MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nM
// if DO_LAND_START found then require valid landing AFTER
if (missionitem.nav_cmd == NAV_CMD_DO_LAND_START) {
if (land_start_found) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: more than one land start");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: more than one land start.");
return false;
} else {
@@ -432,8 +432,8 @@ MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nM
if (delta_altitude < 0) {
if (missionitem_previous.altitude > slope_alt_req) {
/* Landing waypoint is above altitude of slope at the given waypoint distance */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: adjust landing approach");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Move down %.1fm or move further away by %.1fm",
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: adjust landing approach.");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Move down %.1fm or move further away by %.1fm.",
(double)(slope_alt_req - missionitem_previous.altitude),
(double)(wp_distance_req - wp_distance));
@@ -442,13 +442,13 @@ MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nM
} else {
/* Landing waypoint is above last waypoint */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: landing above last waypoint");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: landing above last waypoint.");
return false;
}
} else {
/* Last wp is in flare region */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: waypoint within landing flare");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: waypoint within landing flare.");
return false;
}
@@ -456,24 +456,24 @@ MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nM
} else {
// mission item before land doesn't have a position
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: need landing approach");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: need landing approach.");
return false;
}
} else {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: starts with land waypoint");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: starts with land waypoint.");
return false;
}
}
}
if (land_start_req && !land_start_found) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: land start required");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: land start required.");
return false;
}
if (land_start_found && (!landing_valid || (do_land_start_index > landing_approach_index))) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: invalid land start");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: invalid land start.");
return false;
}
@@ -501,7 +501,7 @@ MissionFeasibilityChecker::check_dist_1wp(dm_item_t dm_current, size_t nMissionI
if (dist_to_1wp < dist_first_wp) {
if (dist_to_1wp > ((dist_first_wp * 3) / 2)) {
/* allow at 2/3 distance, but warn */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Warning: First waypoint very far: %d m", (int)dist_to_1wp);
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission entry point very far: %d m.", (int)dist_to_1wp);
warning_issued = true;
}
@@ -509,7 +509,7 @@ MissionFeasibilityChecker::check_dist_1wp(dm_item_t dm_current, size_t nMissionI
} else {
/* item is too far from home */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "First waypoint too far: %d m > %d, refusing mission",
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission entry point too far: %dm, %dm max.",
(int)dist_to_1wp, (int)dist_first_wp);
warning_issued = true;
return false;
@@ -518,7 +518,7 @@ MissionFeasibilityChecker::check_dist_1wp(dm_item_t dm_current, size_t nMissionI
} else {
/* error reading, mission is invalid */
mavlink_log_info(_navigator->get_mavlink_log_pub(), "error reading offboard mission");
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Error reading offboard mission.");
return false;
}
}