From 0c2099e788b9442ac7700b505c21e44d3204afe6 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 23 Dec 2020 18:58:35 +0100 Subject: [PATCH] AirspeedSelector: improve messaging on airspeed sensor switches Signed-off-by: Silvan Fuhrer --- .../airspeed_selector_main.cpp | 21 +++++++++++++++---- 1 file changed, 17 insertions(+), 4 deletions(-) diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp index 9628becbd5..7c5895c624 100644 --- a/src/modules/airspeed_selector/airspeed_selector_main.cpp +++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp @@ -540,11 +540,24 @@ void AirspeedModule::select_airspeed_and_publish() } } - // suppress log message if still on the ground and no airspeed sensor connected + // print warning or info, depending of whether airspeed got declared invalid or healthy if (_valid_airspeed_index != _prev_airspeed_index && - (_number_of_airspeed_sensors > 0 || !_vehicle_land_detected.landed)) { - mavlink_log_critical(&_mavlink_log_pub, "Airspeed: switched from sensor %i to %i", _prev_airspeed_index, - _valid_airspeed_index); + (_number_of_airspeed_sensors > 0 || !_vehicle_land_detected.landed) && + _valid_airspeed_index != _prev_airspeed_index) { + if (_prev_airspeed_index > 0) { + mavlink_log_critical(&_mavlink_log_pub, "Airspeed sensor failure deteced (%i, %i)", _prev_airspeed_index, + _valid_airspeed_index); + + } else if (_prev_airspeed_index == 0 && _valid_airspeed_index == -1) { + mavlink_log_info(&_mavlink_log_pub, "Airspeed estimation invald"); + + } else if (_prev_airspeed_index == -1 && _valid_airspeed_index == 0) { + mavlink_log_info(&_mavlink_log_pub, "Airspeed estimation valid"); + + } else { + mavlink_log_info(&_mavlink_log_pub, "Airspeed sensor healthy, start using again (%i, %i)", _prev_airspeed_index, + _valid_airspeed_index); + } } _prev_airspeed_index = _valid_airspeed_index;