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Standardising mavlink message strings

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This commit is contained in:
Alessandro Simovic
2019-04-05 15:28:47 +02:00
committed by Beat Küng
parent 3549354599
commit 482a46ab36
1 changed files with 41 additions and 41 deletions
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src/modules/commander/Commander.cpp
+41 -41
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@@ -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");
}
}
}