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commander battery_failsafe state machine share strings

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This commit is contained in:
Daniel Agar
2018-08-21 02:38:51 -04:00
parent 6396e486bd
commit 29082d0118
1 changed files with 14 additions and 10 deletions
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src/modules/commander/state_machine_helper.cpp
+14 -10
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@@ -1023,9 +1023,11 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
case battery_status_s::BATTERY_WARNING_CRITICAL:
static constexpr char battery_critical[] = "CRITICAL BATTERY";
switch (low_battery_action) {
case LOW_BAT_ACTION::WARNING:
mavlink_log_critical(mavlink_log_pub, "CRITICAL BATTERY, RETURN ADVISED!");
mavlink_log_critical(mavlink_log_pub, "%s, RETURN ADVISED!", battery_critical);
break;
case LOW_BAT_ACTION::RETURN:
@@ -1034,20 +1036,20 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
// let us send the critical message even if already in RTL
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags, internal_state)) {
mavlink_log_critical(mavlink_log_pub, "CRITICAL BATTERY, RETURNING");
mavlink_log_critical(mavlink_log_pub, "%s, RETURNING", battery_critical);
} else {
mavlink_log_emergency(mavlink_log_pub, "CRITICAL BATTERY, RETURN FAILED");
mavlink_log_emergency(mavlink_log_pub, "%s, RETURN FAILED", battery_critical);
}
break;
case LOW_BAT_ACTION::LAND:
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags, internal_state)) {
mavlink_log_critical(mavlink_log_pub, "CRITICAL BATTERY, LANDING AT CURRENT POSITION");
mavlink_log_critical(mavlink_log_pub, "%s, LANDING AT CURRENT POSITION", battery_critical);
} else {
mavlink_log_emergency(mavlink_log_pub, "CRITICAL BATTERY, LANDING FAILED");
mavlink_log_emergency(mavlink_log_pub, "%s, LANDING FAILED", battery_critical);
}
break;
@@ -1057,17 +1059,19 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
case battery_status_s::BATTERY_WARNING_EMERGENCY:
static constexpr char battery_dangerous[] = "DANGEROUS BATTERY LEVEL";
switch (low_battery_action) {
case LOW_BAT_ACTION::WARNING:
mavlink_log_emergency(mavlink_log_pub, "DANGEROUS BATTERY LEVEL, LANDING ADVISED!");
mavlink_log_emergency(mavlink_log_pub, "%s, LANDING ADVISED!", battery_dangerous);
break;
case LOW_BAT_ACTION::RETURN:
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags, internal_state)) {
mavlink_log_emergency(mavlink_log_pub, "DANGEROUS BATTERY LEVEL, RETURNING");
mavlink_log_emergency(mavlink_log_pub, "%s, RETURNING", battery_dangerous);
} else {
mavlink_log_emergency(mavlink_log_pub, "DANGEROUS BATTERY LEVEL, RETURN FAILED");
mavlink_log_emergency(mavlink_log_pub, "%s, RETURN FAILED", battery_dangerous);
}
break;
@@ -1076,10 +1080,10 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
// FALLTHROUGH
case LOW_BAT_ACTION::LAND:
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags, internal_state)) {
mavlink_log_emergency(mavlink_log_pub, "DANGEROUS BATTERY LEVEL, LANDING IMMEDIATELY");
mavlink_log_emergency(mavlink_log_pub, "%s, LANDING IMMEDIATELY", battery_dangerous);
} else {
mavlink_log_emergency(mavlink_log_pub, "DANGEROUS BATTERY LEVEL, LANDING FAILED");
mavlink_log_emergency(mavlink_log_pub, "%s, LANDING FAILED", battery_dangerous);
}
break;