From 482a46ab36a4dd8dd2a90e533b19d84e5b53538d Mon Sep 17 00:00:00 2001 From: Alessandro Simovic Date: Fri, 5 Apr 2019 15:28:47 +0200 Subject: [PATCH] Standardising mavlink message strings --- src/modules/commander/Commander.cpp | 82 ++++++++++++++--------------- 1 file changed, 41 insertions(+), 41 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index d723bc270c..990ac6e207 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -629,7 +629,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_ } else { cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; - mavlink_log_critical(&mavlink_log_pub, "Rejecting reposition command"); + mavlink_log_critical(&mavlink_log_pub, "Reposition command rejected"); } } else { @@ -770,7 +770,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_ cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; if (arming_ret == TRANSITION_DENIED) { - mavlink_log_critical(&mavlink_log_pub, "Rejecting arming cmd"); + mavlink_log_critical(&mavlink_log_pub, "Arming command rejected"); } } } @@ -795,7 +795,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_ // Refuse to arm if preflight checks have failed if ((!status_local->hil_state) != vehicle_status_s::HIL_STATE_ON && !status_flags.condition_system_sensors_initialized) { - mavlink_log_critical(&mavlink_log_pub, "Arming DENIED. Preflight checks have failed."); + mavlink_log_critical(&mavlink_log_pub, "Arming denied! Preflight checks have failed"); cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED; break; } @@ -808,13 +808,13 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_ || status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_RATTITUDE) && (sp_man.z > 0.1f)) { - mavlink_log_critical(&mavlink_log_pub, "Arming DENIED. Manual throttle non-zero."); + mavlink_log_critical(&mavlink_log_pub, "Arming denied! Manual throttle not zero"); cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED; break; } } - transition_result_t arming_res = arm_disarm(cmd_arms, &mavlink_log_pub, "arm/disarm component command"); + transition_result_t arming_res = arm_disarm(cmd_arms, &mavlink_log_pub, "Arm/Disarm component command"); if (arming_res == TRANSITION_DENIED) { cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; @@ -973,7 +973,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_ cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; } else { - mavlink_log_critical(&mavlink_log_pub, "Takeoff denied, disarm and re-try"); + mavlink_log_critical(&mavlink_log_pub, "Takeoff denied! Please disarm and retry"); cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } } @@ -986,7 +986,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_ cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; } else { - mavlink_log_critical(&mavlink_log_pub, "Landing denied, land manually"); + mavlink_log_critical(&mavlink_log_pub, "Landing denied! Please land manually"); cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } } @@ -999,7 +999,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_ cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; } else { - mavlink_log_critical(&mavlink_log_pub, "Precision landing denied, land manually"); + mavlink_log_critical(&mavlink_log_pub, "Precision landing denied! Please land manually"); cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } } @@ -1018,7 +1018,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_ // switch to AUTO_MISSION and ARM if ((TRANSITION_DENIED != main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_MISSION, status_flags, &internal_state)) - && (TRANSITION_DENIED != arm_disarm(true, &mavlink_log_pub, "mission start command"))) { + && (TRANSITION_DENIED != arm_disarm(true, &mavlink_log_pub, "Mission start command"))) { cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; @@ -1029,7 +1029,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_ } } else { - mavlink_log_critical(&mavlink_log_pub, "Mission start denied, no valid mission"); + mavlink_log_critical(&mavlink_log_pub, "Mission start denied! No valid mission"); } } break; @@ -1038,7 +1038,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_ // if no high latency telemetry exists send a failed acknowledge if (_high_latency_datalink_heartbeat > commander_boot_timestamp) { cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_FAILED; - mavlink_log_critical(&mavlink_log_pub, "Control high latency failed, no hl telemetry available"); + mavlink_log_critical(&mavlink_log_pub, "Control high latency failed! Telemetry unavailable"); } } break; @@ -1703,7 +1703,7 @@ Commander::run() _auto_disarm_landed.set_state_and_update(land_detector.landed); if (_auto_disarm_landed.get_state()) { - arm_disarm(false, &mavlink_log_pub, "auto disarm on land"); + arm_disarm(false, &mavlink_log_pub, "Auto disarm on land"); } } @@ -1712,7 +1712,7 @@ Commander::run() _auto_disarm_killed.set_state_and_update(armed.manual_lockdown); if (_auto_disarm_killed.get_state()) { - arm_disarm(false, &mavlink_log_pub, "kill switch still engaged, disarming"); + arm_disarm(false, &mavlink_log_pub, "Kill-switch still engaged, disarming"); } } else { @@ -1862,7 +1862,7 @@ Commander::run() case (geofence_result_s::GF_ACTION_TERMINATE) : { warnx("Flight termination because of geofence"); - mavlink_log_critical(&mavlink_log_pub, "Geofence violation: flight termination"); + mavlink_log_critical(&mavlink_log_pub, "Geofence violation! Flight terminated"); armed.force_failsafe = true; status_changed = true; break; @@ -1905,7 +1905,7 @@ Commander::run() // revert to position control in any case main_state_transition(status, commander_state_s::MAIN_STATE_POSCTL, status_flags, &internal_state); - mavlink_log_critical(&mavlink_log_pub, "Autopilot off, returned control to pilot"); + mavlink_log_critical(&mavlink_log_pub, "Autopilot off! Returning control to pilot"); } } @@ -1925,7 +1925,7 @@ Commander::run() // revert to position control in any case main_state_transition(status, commander_state_s::MAIN_STATE_POSCTL, status_flags, &internal_state); - mavlink_log_critical(&mavlink_log_pub, "Autopilot off, returned control to pilot"); + mavlink_log_critical(&mavlink_log_pub, "Autopilot off! Returning control to pilot"); } } @@ -1939,7 +1939,7 @@ Commander::run() static bool flight_termination_printed = false; if (!flight_termination_printed) { - mavlink_log_critical(&mavlink_log_pub, "Geofence violation: flight termination"); + mavlink_log_critical(&mavlink_log_pub, "Geofence violation! Flight terminated"); flight_termination_printed = true; } @@ -1961,7 +1961,7 @@ Commander::run() } else { if (status.rc_signal_lost) { - mavlink_log_info(&mavlink_log_pub, "MANUAL CONTROL REGAINED after %llums", + mavlink_log_info(&mavlink_log_pub, "Manual control regained after %llums", hrt_elapsed_time(&rc_signal_lost_timestamp) / 1000); set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, true && status_flags.rc_calibration_valid, status); @@ -1997,7 +1997,7 @@ Commander::run() internal_state.main_state != commander_state_s::MAIN_STATE_STAB && internal_state.main_state != commander_state_s::MAIN_STATE_RATTITUDE && !land_detector.landed) { - print_reject_arm("NOT DISARMING: Not in manual mode or landed yet."); + print_reject_arm("Not disarming! Not yet in manual mode or landed"); } else if ((stick_off_counter == rc_arm_hyst && stick_on_counter < rc_arm_hyst) || arm_switch_to_disarm_transition) { arming_ret = arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, @@ -2043,11 +2043,11 @@ Commander::run() && (internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL) && (internal_state.main_state != commander_state_s::MAIN_STATE_RATTITUDE) ) { - print_reject_arm("NOT ARMING: Switch to a manual mode first."); + print_reject_arm("Not arming: Switch to a manual mode first"); } else if (!status_flags.condition_home_position_valid && geofence_action == geofence_result_s::GF_ACTION_RTL) { - print_reject_arm("NOT ARMING: Geofence RTL requires valid home"); + print_reject_arm("Not arming: Geofence RTL requires valid home"); } else if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) { arming_ret = arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_ARMED, &armed, @@ -2056,7 +2056,7 @@ Commander::run() if (arming_ret != TRANSITION_CHANGED) { px4_usleep(100000); - print_reject_arm("NOT ARMING: Preflight checks failed"); + print_reject_arm("Not arming: Preflight checks failed"); } } } @@ -2101,14 +2101,14 @@ Commander::run() if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) { /* set lockdown flag */ if (!armed.manual_lockdown) { - mavlink_log_emergency(&mavlink_log_pub, "MANUAL KILL SWITCH ENGAGED"); + mavlink_log_emergency(&mavlink_log_pub, "Manual kill-switch engaged"); status_changed = true; armed.manual_lockdown = true; } } else if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_OFF) { if (armed.manual_lockdown) { - mavlink_log_emergency(&mavlink_log_pub, "MANUAL KILL SWITCH OFF"); + mavlink_log_emergency(&mavlink_log_pub, "Manual kill-switch disengaged"); status_changed = true; armed.manual_lockdown = false; } @@ -2118,7 +2118,7 @@ Commander::run() } else { if (!status_flags.rc_input_blocked && !status.rc_signal_lost) { - mavlink_log_critical(&mavlink_log_pub, "MANUAL CONTROL LOST (at t=%" PRIu64 "ms)", hrt_absolute_time() / 1000); + mavlink_log_critical(&mavlink_log_pub, "Manual control lost (at t=%" PRIu64 "ms)", hrt_absolute_time() / 1000); status.rc_signal_lost = true; rc_signal_lost_timestamp = sp_man.timestamp; set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, false, status); @@ -2271,7 +2271,7 @@ Commander::run() } if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { - mavlink_log_critical(&mavlink_log_pub, "RC and GPS lost: flight termination"); + mavlink_log_critical(&mavlink_log_pub, "RC and GPS lost! Flight terminated"); } } } @@ -2294,7 +2294,7 @@ Commander::run() // TODO: set force_failsafe flag if (!_failure_detector_termination_printed) { - mavlink_log_critical(&mavlink_log_pub, "Attitude failure detected: force failsafe"); + mavlink_log_critical(&mavlink_log_pub, "Attitude failure detected! Enforcing failsafe"); _failure_detector_termination_printed = true; } @@ -3600,7 +3600,7 @@ void *commander_low_prio_loop(void *arg) /* disable RC control input completely */ status_flags.rc_input_blocked = true; calib_ret = OK; - mavlink_log_info(&mavlink_log_pub, "CAL: Disabling RC IN"); + mavlink_log_info(&mavlink_log_pub, "Calibration: Disabling RC input"); } else if ((int)(cmd.param4) == 2) { /* RC trim calibration */ @@ -3633,7 +3633,7 @@ void *commander_low_prio_loop(void *arg) if (status_flags.rc_input_blocked) { /* enable RC control input */ status_flags.rc_input_blocked = false; - mavlink_log_info(&mavlink_log_pub, "CAL: Re-enabling RC IN"); + mavlink_log_info(&mavlink_log_pub, "Calibration: Restoring RC input"); } answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub); @@ -3668,11 +3668,11 @@ void *commander_low_prio_loop(void *arg) int ret = param_load_default(); if (ret == OK) { - mavlink_log_info(&mavlink_log_pub, "settings loaded"); + mavlink_log_info(&mavlink_log_pub, "Settings loaded"); answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub); } else { - mavlink_log_critical(&mavlink_log_pub, "settings load ERROR"); + mavlink_log_critical(&mavlink_log_pub, "Error loading settings"); /* convenience as many parts of NuttX use negative errno */ if (ret < 0) { @@ -3680,7 +3680,7 @@ void *commander_low_prio_loop(void *arg) } if (ret < 1000) { - mavlink_log_critical(&mavlink_log_pub, "ERROR: %s", strerror(ret)); + mavlink_log_critical(&mavlink_log_pub, "Error: %s", strerror(ret)); } answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_FAILED, command_ack_pub); @@ -3701,7 +3701,7 @@ void *commander_low_prio_loop(void *arg) answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub); } else { - mavlink_log_critical(&mavlink_log_pub, "settings save error"); + mavlink_log_critical(&mavlink_log_pub, "Error saving settings"); /* convenience as many parts of NuttX use negative errno */ if (ret < 0) { @@ -3709,7 +3709,7 @@ void *commander_low_prio_loop(void *arg) } if (ret < 1000) { - mavlink_log_critical(&mavlink_log_pub, "ERROR: %s", strerror(ret)); + mavlink_log_critical(&mavlink_log_pub, "Error: %s", strerror(ret)); } answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_FAILED, command_ack_pub); @@ -3721,7 +3721,7 @@ void *commander_low_prio_loop(void *arg) param_reset_all(); /* do not spam MAVLink, but provide the answer / green led mechanism */ - mavlink_log_critical(&mavlink_log_pub, "onboard parameters reset"); + mavlink_log_critical(&mavlink_log_pub, "Onboard parameters reset"); answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub); } @@ -3974,7 +3974,7 @@ void Commander::data_link_check(bool &status_changed) if (_datalink_last_heartbeat_avoidance_system == 0 && hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > _param_com_oa_boot_t.get() * 1_s) { if (!_print_avoidance_msg_once) { - mavlink_log_critical(&mavlink_log_pub, "Avoidance system not available!"); + mavlink_log_critical(&mavlink_log_pub, "Avoidance system not available"); _print_avoidance_msg_once = true; } @@ -4001,11 +4001,11 @@ void Commander::data_link_check(bool &status_changed) } if (_datalink_last_status_avoidance_system == telemetry_status_s::MAV_STATE_CRITICAL) { - mavlink_log_info(&mavlink_log_pub, "Avoidance system timeout"); + mavlink_log_info(&mavlink_log_pub, "Avoidance system timed out"); } if (_datalink_last_status_avoidance_system == telemetry_status_s::MAV_STATE_FLIGHT_TERMINATION) { - mavlink_log_critical(&mavlink_log_pub, "Avoidance system abort"); + mavlink_log_critical(&mavlink_log_pub, "Avoidance system aborted"); status_flags.avoidance_system_valid = false; status_changed = true; } @@ -4063,7 +4063,7 @@ void Commander::battery_status_check() if (!armed.armed && (battery.warning != _battery_warning)) { if (battery.warning == battery_status_s::BATTERY_WARNING_EMERGENCY) { - mavlink_log_critical(&mavlink_log_pub, "Dangerously low battery, shut system down"); + mavlink_log_critical(&mavlink_log_pub, "Dangerously low battery! Shutting system down"); px4_usleep(200000); int ret_val = px4_shutdown_request(false, false); @@ -4104,7 +4104,7 @@ void Commander::estimator_check(bool *status_changed) const bool mag_fault = (estimator_status.control_mode_flags & (1 << estimator_status_s::CS_MAG_FAULT)); if (!mag_fault_prev && mag_fault) { - mavlink_log_critical(&mavlink_log_pub, "Stopping compass use, check calibration on landing"); + mavlink_log_critical(&mavlink_log_pub, "Stopping compass use! Check calibration on landing"); } // Set the allowable position uncertainty based on combination of flight and estimator state @@ -4162,7 +4162,7 @@ void Commander::estimator_check(bool *status_changed) // if the innovation test has failed continuously, declare the nav as failed if (hrt_elapsed_time(&_time_last_innov_pass) > 1_s) { _nav_test_failed = true; - mavlink_log_emergency(&mavlink_log_pub, "Critical navigation failure - check sensor calibration"); + mavlink_log_emergency(&mavlink_log_pub, "Critical navigation failure! Check sensor calibration"); } } }