diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 0eb1a1ca04..dbbfc7a9d4 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -3897,7 +3897,7 @@ void Commander::data_link_check(bool &status_changed) if (hrt_elapsed_time(&_datalink_last_heartbeat_gcs) < (_datalink_regain_threshold.get() * 1_s)) { status.data_link_lost = false; status_changed = true; - mavlink_log_critical(&mavlink_log_pub, "DATA LINK REGAINED"); + mavlink_log_info(&mavlink_log_pub, "Data link regained"); } } @@ -3908,7 +3908,7 @@ void Commander::data_link_check(bool &status_changed) if (_onboard_controller_lost) { if (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) < _onboard_regain_threshold.get() * 1_s) { - mavlink_log_info(&mavlink_log_pub, "ONBOARD CONTROLLER REGAINED"); + mavlink_log_info(&mavlink_log_pub, "Onboard controller regained"); _onboard_controller_lost = false; } @@ -3922,8 +3922,8 @@ void Commander::data_link_check(bool &status_changed) _datalink_last_heartbeat_avoidance_system = telemetry.heartbeat_time; _datalink_last_status_avoidance_system = telemetry.remote_system_status; - if (_avoidance_system_lost != false) { - mavlink_log_info(&mavlink_log_pub, "AVOIDANCE SYSTEM REGAINED"); + if (_avoidance_system_lost) { + mavlink_log_info(&mavlink_log_pub, "Avoidance system regained"); } _avoidance_system_lost = false; @@ -3943,7 +3943,7 @@ void Commander::data_link_check(bool &status_changed) status.data_link_lost = true; status.data_link_lost_counter++; - mavlink_log_critical(&mavlink_log_pub, "DATA LINK LOST"); + mavlink_log_critical(&mavlink_log_pub, "Data link lost"); status_changed = true; } @@ -3954,7 +3954,7 @@ void Commander::data_link_check(bool &status_changed) && (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > _onboard_loss_timeout.get() * 1_s) && !_onboard_controller_lost) { - mavlink_log_critical(&mavlink_log_pub, "ONBOARD CONTROLLER LOST"); + mavlink_log_critical(&mavlink_log_pub, "Onboard controller lost"); _onboard_controller_lost = true; } @@ -3964,32 +3964,32 @@ void Commander::data_link_check(bool &status_changed) //if avoidance never started if (_datalink_last_heartbeat_avoidance_system == 0 && hrt_elapsed_time(&_avoidance_system_not_started) > 5_s) { _avoidance_system_not_started = hrt_absolute_time(); - mavlink_log_critical(&mavlink_log_pub, "AVOIDANCE SYSTEM DID NOT START"); + mavlink_log_info(&mavlink_log_pub, "Waiting for avoidance system to start"); } //if heartbeats stop if (!_avoidance_system_lost && (_datalink_last_heartbeat_avoidance_system > 0) && (hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > 5_s)) { _avoidance_system_lost = true; - mavlink_log_critical(&mavlink_log_pub, "AVOIDANCE SYSTEM LOST"); + mavlink_log_critical(&mavlink_log_pub, "Avoidance system lost"); } //if status changed if (_avoidance_system_status_change) { if (_datalink_last_status_avoidance_system == telemetry_status_s::MAV_STATE_BOOT) { - mavlink_log_info(&mavlink_log_pub, "AVOIDANCE SYSTEM STARTING"); + mavlink_log_info(&mavlink_log_pub, "Avoidance system starting"); } if (_datalink_last_status_avoidance_system == telemetry_status_s::MAV_STATE_ACTIVE) { - mavlink_log_info(&mavlink_log_pub, "AVOIDANCE SYSTEM HEALTHY"); + mavlink_log_info(&mavlink_log_pub, "Avoidance system healthy"); } 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 timeout"); } 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 abort"); } _avoidance_system_status_change = false; @@ -4004,7 +4004,7 @@ void Commander::data_link_check(bool &status_changed) if (!status.high_latency_data_link_lost) { status.high_latency_data_link_lost = true; - mavlink_log_critical(&mavlink_log_pub, "HIGH LATENCY DATA LINK LOST"); + mavlink_log_critical(&mavlink_log_pub, "High latency data link lost"); status_changed = true; } } @@ -4045,13 +4045,13 @@ 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, shut system down"); px4_usleep(200000); int ret_val = px4_shutdown_request(false, false); if (ret_val) { - mavlink_log_critical(&mavlink_log_pub, "SYSTEM DOES NOT SUPPORT SHUTDOWN"); + mavlink_log_critical(&mavlink_log_pub, "System does not support shutdown"); } else { while (1) { px4_usleep(1); } @@ -4144,7 +4144,7 @@ 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"); } } } diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp index 961bce464a..ea8b184299 100644 --- a/src/modules/commander/Commander.hpp +++ b/src/modules/commander/Commander.hpp @@ -57,7 +57,7 @@ #include #include #include - +#include using math::constrain; using uORB::Publication; using uORB::Subscription; @@ -183,10 +183,10 @@ private: uint64_t _onboard_controller_lost{0}; uint64_t _datalink_last_heartbeat_avoidance_system{0}; - uint64_t _avoidance_system_lost{0}; + bool _avoidance_system_lost{0}; uint64_t _avoidance_system_not_started{0}; bool _avoidance_system_status_change{0}; - uint64_t _datalink_last_status_avoidance_system{9}; + uint8_t _datalink_last_status_avoidance_system{telemetry_status_s::MAV_STATE_UNINIT}; int _iridiumsbd_status_sub{-1}; uint64_t _high_latency_datalink_heartbeat{0};