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commander: more text feedback improvements.

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This commit is contained in:
Lorenz Meier
2014-07-13 11:46:36 +02:00
parent afc8908d38
commit 7525c290f2
1 changed files with 10 additions and 10 deletions
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src/modules/commander/state_machine_helper.cpp
+10 -10
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@@ -87,7 +87,7 @@ static const bool arming_transitions[ARMING_STATE_MAX][ARMING_STATE_MAX] = {
}; };
// You can index into the array with an arming_state_t in order to get it's textual representation // You can index into the array with an arming_state_t in order to get it's textual representation
static const char *state_names[ARMING_STATE_MAX] = { static const char * const state_names[ARMING_STATE_MAX] = {
"ARMING_STATE_INIT", "ARMING_STATE_INIT",
"ARMING_STATE_STANDBY", "ARMING_STATE_STANDBY",
"ARMING_STATE_ARMED", "ARMING_STATE_ARMED",
@@ -160,7 +160,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current
// Fail transition if we need safety switch press // Fail transition if we need safety switch press
} else if (safety->safety_switch_available && !safety->safety_off) { } else if (safety->safety_switch_available && !safety->safety_off) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch!"); mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch!");
valid_transition = false; valid_transition = false;
} }
@@ -625,7 +625,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0) { if (fd < 0) {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL SENSOR MISSING"); mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL SENSOR MISSING");
failed = true; failed = true;
goto system_eval; goto system_eval;
} }
@@ -633,7 +633,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
ret = ioctl(fd, ACCELIOCSELFTEST, 0); ret = ioctl(fd, ACCELIOCSELFTEST, 0);
if (ret != OK) { if (ret != OK) {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL CALIBRATION"); mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL CALIBRATION");
failed = true; failed = true;
goto system_eval; goto system_eval;
} }
@@ -647,14 +647,14 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z); float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) { if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE"); mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE");
mavlink_log_info(mavlink_fd, "#audio: hold still while arming"); mavlink_log_critical(mavlink_fd, "hold still while arming");
/* this is frickin' fatal */ /* this is frickin' fatal */
failed = true; failed = true;
goto system_eval; goto system_eval;
} }
} else { } else {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL READ"); mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL READ");
/* this is frickin' fatal */ /* this is frickin' fatal */
failed = true; failed = true;
goto system_eval; goto system_eval;
@@ -667,7 +667,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
if (fd <= 0) { if (fd <= 0) {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING"); mavlink_log_critical(mavlink_fd, "ARM FAIL: AIRSPEED SENSOR MISSING");
failed = true; failed = true;
goto system_eval; goto system_eval;
} }
@@ -678,11 +678,11 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
if (ret == sizeof(diff_pres)) { if (ret == sizeof(diff_pres)) {
if (fabsf(diff_pres.differential_pressure_filtered_pa > 6.0f)) { if (fabsf(diff_pres.differential_pressure_filtered_pa > 6.0f)) {
mavlink_log_critical(mavlink_fd, "#audio: WARNING AIRSPEED CALIBRATION MISSING"); mavlink_log_critical(mavlink_fd, "ARM WARNING: AIRSPEED CALIBRATION MISSING");
// XXX do not make this fatal yet // XXX do not make this fatal yet
} }
} else { } else {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED READ"); mavlink_log_critical(mavlink_fd, "ARM FAIL: AIRSPEED READ");
/* this is frickin' fatal */ /* this is frickin' fatal */
failed = true; failed = true;
goto system_eval; goto system_eval;