From ab17b6bad4789bc2428403783a205fdb2fa6ef3e Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 18 Aug 2020 19:41:46 +0200 Subject: [PATCH] failureDetectorCheck: revise messageing --- .../checks/failureDetectorCheck.cpp | 19 ++++++++++++++++--- 1 file changed, 16 insertions(+), 3 deletions(-) diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/failureDetectorCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/failureDetectorCheck.cpp index 05345ee5c9..d8af37a1ee 100644 --- a/src/modules/commander/Arming/PreFlightCheck/checks/failureDetectorCheck.cpp +++ b/src/modules/commander/Arming/PreFlightCheck/checks/failureDetectorCheck.cpp @@ -45,17 +45,30 @@ bool PreFlightCheck::failureDetectorCheck(orb_advert_t *mavlink_log_pub, const v if (status.failure_detector_status != vehicle_status_s::FAILURE_NONE) { if (report_fail) { + // in case an error is forgotten to get handled here the user at least gets a less specific message + const char *message = "Unspecified"; + if (status.failure_detector_status & vehicle_status_s::FAILURE_ROLL) { - mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Roll failure detected"); + message = "Roll"; } if (status.failure_detector_status & vehicle_status_s::FAILURE_PITCH) { - mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Pitch failure detected"); + message = "Pitch"; } if (status.failure_detector_status & vehicle_status_s::FAILURE_ALT) { - mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Altitude failure detected"); + message = "Altitude"; } + + if (status.failure_detector_status & vehicle_status_s::FAILURE_EXT) { + message = "Parachute"; + } + + if (status.failure_detector_status & vehicle_status_s::FAILURE_ARM_ESC) { + message = "ESC"; + } + + mavlink_log_critical(mavlink_log_pub, "Preflight Fail: %s failure detected", message); } return false;