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mavlink log: ensure all critical & emergency msgs are also logged to console & ulog

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Critical messages that the user sees should also go to the log file, so
that the exact error (with time) can later be analyzed from the log file.
This commit is contained in:
Beat Küng
2016-09-30 13:50:51 +02:00
committed by Julian Oes
parent 241fd629ce
commit ce0d31b7d9
17 changed files with 116 additions and 132 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4io/px4io.cpp
+9 -9
View File
@@ -683,12 +683,12 @@ PX4IO::init()
/* if the error still persists after timing out, we give up */
if (protocol == _io_reg_get_error) {
mavlink_and_console_log_emergency(&_mavlink_log_pub, "Failed to communicate with IO, abort.");
mavlink_log_emergency(&_mavlink_log_pub, "Failed to communicate with IO, abort.");
return -1;
}
if (protocol != PX4IO_PROTOCOL_VERSION) {
mavlink_and_console_log_emergency(&_mavlink_log_pub, "IO protocol/firmware mismatch, abort.");
mavlink_log_emergency(&_mavlink_log_pub, "IO protocol/firmware mismatch, abort.");
return -1;
}
@@ -755,7 +755,7 @@ PX4IO::init()
/* get a status update from IO */
io_get_status();
mavlink_and_console_log_emergency(&_mavlink_log_pub, "RECOVERING FROM FMU IN-AIR RESTART");
mavlink_log_emergency(&_mavlink_log_pub, "RECOVERING FROM FMU IN-AIR RESTART");
/* WARNING: COMMANDER app/vehicle status must be initialized.
* If this fails (or the app is not started), worst-case IO
@@ -784,7 +784,7 @@ PX4IO::init()
/* abort after 5s */
if ((hrt_absolute_time() - try_start_time) / 1000 > 3000) {
mavlink_and_console_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (1), abort");
mavlink_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (1), abort");
return 1;
}
@@ -840,7 +840,7 @@ PX4IO::init()
/* abort after 5s */
if ((hrt_absolute_time() - try_start_time) / 1000 > 2000) {
mavlink_and_console_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (2), abort");
mavlink_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (2), abort");
return 1;
}
@@ -887,7 +887,7 @@ PX4IO::init()
ret = io_set_rc_config();
if (ret != OK) {
mavlink_and_console_log_critical(&_mavlink_log_pub, "IO RC config upload fail");
mavlink_log_critical(&_mavlink_log_pub, "IO RC config upload fail");
return ret;
}
}
@@ -1115,7 +1115,7 @@ PX4IO::task_main()
int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1);
if (pret != OK) {
mavlink_and_console_log_critical(&_mavlink_log_pub, "IO vscale upload failed");
mavlink_log_critical(&_mavlink_log_pub, "IO vscale upload failed");
}
/* send RC throttle failsafe value to IO */
@@ -1132,7 +1132,7 @@ PX4IO::task_main()
pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
if (pret != OK) {
mavlink_and_console_log_critical(&_mavlink_log_pub, "failsafe upload failed, FS: %d us", (int)failsafe_thr);
mavlink_log_critical(&_mavlink_log_pub, "failsafe upload failed, FS: %d us", (int)failsafe_thr);
}
}
}
@@ -1610,7 +1610,7 @@ PX4IO::io_set_rc_config()
/* check the IO initialisation flag */
if (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_INIT_OK)) {
mavlink_and_console_log_critical(&_mavlink_log_pub, "config for RC%u rejected by IO", i + 1);
mavlink_log_critical(&_mavlink_log_pub, "config for RC%u rejected by IO", i + 1);
break;
}
src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+1 -1
View File
@@ -417,7 +417,7 @@ int AttitudePositionEstimatorEKF::check_filter_state()
// Do not warn about accel offset if we have no position updates
if (!(warn_index == 5 && _ekf->staticMode)) {
mavlink_and_console_log_critical(&_mavlink_log_pub, "[ekf check] %s", feedback[warn_index]);
mavlink_log_critical(&_mavlink_log_pub, "[ekf check] %s", feedback[warn_index]);
}
}
src/modules/commander/PreflightCheck.cpp
+22 -22
View File
@@ -128,7 +128,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bo
if (!h.isValid()) {
if (!optional) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO MAG SENSOR #%u", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO MAG SENSOR #%u", instance);
}
}
@@ -139,7 +139,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bo
if (ret) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAG #%u UNCALIBRATED", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAG #%u UNCALIBRATED", instance);
}
success = false;
goto out;
@@ -149,7 +149,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bo
if (ret != OK) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAG #%u SELFTEST FAILED", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAG #%u SELFTEST FAILED", instance);
}
success = false;
goto out;
@@ -172,7 +172,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance,
if (!h.isValid()) {
if (!optional) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO ACCEL SENSOR #%u", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO ACCEL SENSOR #%u", instance);
}
}
@@ -183,7 +183,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance,
if (ret) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL #%u UNCALIBRATED", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL #%u UNCALIBRATED", instance);
}
success = false;
goto out;
@@ -193,7 +193,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance,
if (ret != OK) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL #%u TEST FAILED: %d", instance, ret);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL #%u TEST FAILED: %d", instance, ret);
}
success = false;
goto out;
@@ -211,7 +211,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance,
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL RANGE, hold still on arming");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL RANGE, hold still on arming");
}
/* this is frickin' fatal */
success = false;
@@ -219,7 +219,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance,
}
} else {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL READ");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL READ");
}
/* this is frickin' fatal */
success = false;
@@ -245,7 +245,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt
if (!h.isValid()) {
if (!optional) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO GYRO SENSOR #%u", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO GYRO SENSOR #%u", instance);
}
}
@@ -256,7 +256,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt
if (ret) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO #%u UNCALIBRATED", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO #%u UNCALIBRATED", instance);
}
success = false;
goto out;
@@ -266,7 +266,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt
if (ret != OK) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO #%u SELFTEST FAILED", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO #%u SELFTEST FAILED", instance);
}
success = false;
goto out;
@@ -289,7 +289,7 @@ static bool baroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt
if (!h.isValid()) {
if (!optional) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
}
}
@@ -302,7 +302,7 @@ static bool baroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt
// int ret = check_calibration(fd, "CAL_BARO%u_ID");
// if (ret) {
// mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: BARO #%u UNCALIBRATED", instance);
// mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: BARO #%u UNCALIBRATED", instance);
// success = false;
// goto out;
// }
@@ -324,7 +324,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, bool optional, bool rep
if ((ret = orb_copy(ORB_ID(airspeed), fd, &airspeed)) ||
(hrt_elapsed_time(&airspeed.timestamp) > (500 * 1000))) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
}
success = false;
goto out;
@@ -332,7 +332,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, bool optional, bool rep
if (fabsf(airspeed.confidence) < 0.99f) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR COMM ERROR");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR COMM ERROR");
}
success = false;
goto out;
@@ -340,7 +340,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, bool optional, bool rep
if (fabsf(airspeed.indicated_airspeed_m_s) > 6.0f) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
mavlink_log_critical(mavlink_log_pub, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
}
// XXX do not make this fatal yet
}
@@ -374,7 +374,7 @@ static bool gnssCheck(orb_advert_t *mavlink_log_pub, bool report_fail)
//Report failure to detect module
if (!success) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
}
}
@@ -421,7 +421,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkMag, bool checkAcc,
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "Warning: Primary compass not found");
mavlink_log_critical(mavlink_log_pub, "Warning: Primary compass not found");
}
failed = true;
}
@@ -450,7 +450,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkMag, bool checkAcc,
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "Warning: Primary accelerometer not found");
mavlink_log_critical(mavlink_log_pub, "Warning: Primary accelerometer not found");
}
failed = true;
}
@@ -479,7 +479,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkMag, bool checkAcc,
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "Warning: Primary gyro not found");
mavlink_log_critical(mavlink_log_pub, "Warning: Primary gyro not found");
}
failed = true;
}
@@ -509,7 +509,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkMag, bool checkAcc,
// // check if the primary device is present
if (!prime_found && prime_id != 0) {
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "warning: primary barometer not operational");
mavlink_log_critical(mavlink_log_pub, "warning: primary barometer not operational");
}
failed = true;
}
@@ -526,7 +526,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkMag, bool checkAcc,
if (checkRC) {
if (rc_calibration_check(mavlink_log_pub, reportFailures, isVTOL) != OK) {
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "RC calibration check failed");
mavlink_log_critical(mavlink_log_pub, "RC calibration check failed");
}
failed = true;
}
src/modules/commander/calibration_routines.h
+2 -2
View File
@@ -128,12 +128,12 @@ bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, ///< uORB handle to w
#define calibration_log_critical(_pub, _text, ...) \
do { \
mavlink_and_console_log_critical(_pub, _text, ##__VA_ARGS__); \
mavlink_log_critical(_pub, _text, ##__VA_ARGS__); \
usleep(10000); \
} while(0);
#define calibration_log_emergency(_pub, _text, ...) \
do { \
mavlink_and_console_log_emergency(_pub, _text, ##__VA_ARGS__); \
mavlink_log_emergency(_pub, _text, ##__VA_ARGS__); \
usleep(10000); \
} while(0);
src/modules/commander/commander.cpp
+14 -14
View File
@@ -623,7 +623,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
// For HIL platforms, require that simulated sensors are connected
if (arm && hrt_absolute_time() > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL &&
is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
mavlink_and_console_log_critical(mavlink_log_pub_local, "HIL platform: Connect to simulator before arming");
mavlink_log_critical(mavlink_log_pub_local, "HIL platform: Connect to simulator before arming");
return TRANSITION_DENIED;
}
@@ -1045,7 +1045,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_and_console_log_critical(&mavlink_log_pub, "Takeoff denied, disarm and re-try");
mavlink_log_critical(&mavlink_log_pub, "Takeoff denied, disarm and re-try");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
@@ -1058,7 +1058,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_and_console_log_critical(&mavlink_log_pub, "Landing denied, land manually.");
mavlink_log_critical(&mavlink_log_pub, "Landing denied, land manually.");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
@@ -2110,30 +2110,30 @@ int commander_thread_main(int argc, char *argv[])
critical_battery_voltage_actions_done = true;
if (!armed.armed) {
mavlink_and_console_log_critical(&mavlink_log_pub, "CRITICAL BATTERY, SHUT SYSTEM DOWN");
mavlink_log_critical(&mavlink_log_pub, "CRITICAL BATTERY, SHUT SYSTEM DOWN");
} else {
if (low_bat_action == 1) {
// let us send the critical message even if already in RTL
if (warning_action_on || TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, &status_flags, &internal_state)) {
warning_action_on = true;
mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RETURNING TO LAND");
mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RETURNING TO LAND");
} else {
mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RTL FAILED");
mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RTL FAILED");
}
} else if (low_bat_action == 2) {
if (warning_action_on || TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_LAND, main_state_prev, &status_flags, &internal_state)) {
warning_action_on = true;
mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING AT CURRENT POSITION");
mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING AT CURRENT POSITION");
} else {
mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING FAILED");
mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING FAILED");
}
} else {
mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING ADVISED!");
mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING ADVISED!");
}
}
@@ -2381,12 +2381,12 @@ int commander_thread_main(int argc, char *argv[])
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
mavlink_and_console_log_critical(&mavlink_log_pub, "Geofence violation: flight termination");
mavlink_log_critical(&mavlink_log_pub, "Geofence violation: flight termination");
flight_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
mavlink_and_console_log_critical(&mavlink_log_pub, "Flight termination active");
mavlink_log_critical(&mavlink_log_pub, "Flight termination active");
}
}
@@ -2636,7 +2636,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (!status.data_link_lost) {
if (armed.armed) {
mavlink_and_console_log_critical(&mavlink_log_pub, "ALL DATA LINKS LOST");
mavlink_log_critical(&mavlink_log_pub, "ALL DATA LINKS LOST");
}
status.data_link_lost = true;
status.data_link_lost_counter++;
@@ -2726,7 +2726,7 @@ int commander_thread_main(int argc, char *argv[])
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
mavlink_and_console_log_critical(&mavlink_log_pub, "DL and GPS lost: flight termination");
mavlink_log_critical(&mavlink_log_pub, "DL and GPS lost: flight termination");
flight_termination_printed = true;
}
@@ -3716,7 +3716,7 @@ void *commander_low_prio_loop(void *arg)
int ret = param_save_default();
if (ret != OK) {
mavlink_and_console_log_critical(&mavlink_log_pub, "settings auto save error");
mavlink_log_critical(&mavlink_log_pub, "settings auto save error");
} else {
PX4_DEBUG("commander: settings saved.");
}
src/modules/commander/state_machine_helper.cpp
+16 -16
View File
@@ -210,7 +210,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
} else if (safety->safety_switch_available && !safety->safety_off) {
mavlink_and_console_log_critical(mavlink_log_pub, "NOT ARMING: Press safety switch first!");
mavlink_log_critical(mavlink_log_pub, "NOT ARMING: Press safety switch first!");
feedback_provided = true;
valid_transition = false;
}
@@ -221,7 +221,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
// Fail transition if power is not good
if (!status_flags->condition_power_input_valid) {
mavlink_and_console_log_critical(mavlink_log_pub, "NOT ARMING: Connect power module.");
mavlink_log_critical(mavlink_log_pub, "NOT ARMING: Connect power module.");
feedback_provided = true;
valid_transition = false;
}
@@ -231,18 +231,18 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
if (status_flags->condition_power_input_valid && (avionics_power_rail_voltage > 0.0f)) {
// Check avionics rail voltages
if (avionics_power_rail_voltage < 4.5f) {
mavlink_and_console_log_critical(mavlink_log_pub, "NOT ARMING: Avionics power low: %6.2f Volt",
mavlink_log_critical(mavlink_log_pub, "NOT ARMING: Avionics power low: %6.2f Volt",
(double)avionics_power_rail_voltage);
feedback_provided = true;
valid_transition = false;
} else if (avionics_power_rail_voltage < 4.9f) {
mavlink_and_console_log_critical(mavlink_log_pub, "CAUTION: Avionics power low: %6.2f Volt",
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics power low: %6.2f Volt",
(double)avionics_power_rail_voltage);
feedback_provided = true;
} else if (avionics_power_rail_voltage > 5.4f) {
mavlink_and_console_log_critical(mavlink_log_pub, "CAUTION: Avionics power high: %6.2f Volt",
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics power high: %6.2f Volt",
(double)avionics_power_rail_voltage);
feedback_provided = true;
}
@@ -268,17 +268,17 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
if (status_flags->condition_system_sensors_initialized) {
mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot before arming");
mavlink_log_critical(mavlink_log_pub, "Preflight check resolved, reboot before arming");
} else {
mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check failed, refusing to arm");
mavlink_log_critical(mavlink_log_pub, "Preflight check failed, refusing to arm");
}
feedback_provided = true;
} else if ((new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
status_flags->condition_system_sensors_initialized) {
mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot to complete");
mavlink_log_critical(mavlink_log_pub, "Preflight check resolved, reboot to complete");
feedback_provided = true;
} else {
@@ -296,7 +296,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
if (status_flags->condition_system_hotplug_timeout) {
if (!status_flags->condition_system_prearm_error_reported) {
mavlink_and_console_log_critical(mavlink_log_pub,
mavlink_log_critical(mavlink_log_pub,
"Not ready to fly: Sensors not set up correctly");
status_flags->condition_system_prearm_error_reported = true;
}
@@ -333,7 +333,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
if (ret == TRANSITION_DENIED) {
/* print to MAVLink and console if we didn't provide any feedback yet */
if (!feedback_provided) {
mavlink_and_console_log_critical(mavlink_log_pub, "TRANSITION_DENIED: %s - %s", state_names[status->arming_state],
mavlink_log_critical(mavlink_log_pub, "TRANSITION_DENIED: %s - %s", state_names[status->arming_state],
state_names[new_arming_state]);
}
}
@@ -461,7 +461,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
switch (new_state) {
case vehicle_status_s::HIL_STATE_OFF:
/* we're in HIL and unexpected things can happen if we disable HIL now */
mavlink_and_console_log_critical(mavlink_log_pub, "Not switching off HIL (safety)");
mavlink_log_critical(mavlink_log_pub, "Not switching off HIL (safety)");
ret = TRANSITION_DENIED;
break;
@@ -535,7 +535,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
closedir(d);
ret = TRANSITION_CHANGED;
mavlink_and_console_log_critical(mavlink_log_pub, "Switched to ON hil state");
mavlink_log_critical(mavlink_log_pub, "Switched to ON hil state");
} else {
/* failed opening dir */
@@ -600,11 +600,11 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
}
ret = TRANSITION_CHANGED;
mavlink_and_console_log_critical(mavlink_log_pub, "Switched to ON hil state");
mavlink_log_critical(mavlink_log_pub, "Switched to ON hil state");
#endif
} else {
mavlink_and_console_log_critical(mavlink_log_pub, "Not switching to HIL when armed");
mavlink_log_critical(mavlink_log_pub, "Not switching to HIL when armed");
ret = TRANSITION_DENIED;
}
@@ -1106,7 +1106,7 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
preflight_ok = false;
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "ARMING DENIED: Flying with USB is not safe");
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: Flying with USB is not safe");
}
}
@@ -1114,7 +1114,7 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
preflight_ok = false;
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "ARMING DENIED: VERY LOW BATTERY");
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: VERY LOW BATTERY");
}
}
src/modules/local_position_estimator/sensors/baro.cpp
+2 -2
View File
@@ -76,8 +76,8 @@ void BlockLocalPositionEstimator::baroCorrect()
if (beta > BETA_TABLE[n_y_baro]) {
if (_baroFault < FAULT_MINOR) {
if (beta > 2.0f * BETA_TABLE[n_y_baro]) {
mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] baro fault, r %5.2f m, beta %5.2f",
double(r(0)), double(beta));
mavlink_log_critical(&mavlink_log_pub, "[lpe] baro fault, r %5.2f m, beta %5.2f",
double(r(0)), double(beta));
}
_baroFault = FAULT_MINOR;
src/modules/local_position_estimator/sensors/flow.cpp
+1 -1
View File
@@ -190,7 +190,7 @@ void BlockLocalPositionEstimator::flowCheckTimeout()
if (_timeStamp - _time_last_flow > FLOW_TIMEOUT) {
if (_flowInitialized) {
flowDeinit();
mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] flow timeout ");
mavlink_log_critical(&mavlink_log_pub, "[lpe] flow timeout ");
}
}
}
src/modules/local_position_estimator/sensors/gps.cpp
+4 -4
View File
@@ -203,9 +203,9 @@ void BlockLocalPositionEstimator::gpsCorrect()
if (beta > BETA_TABLE[n_y_gps]) {
if (_gpsFault < FAULT_MINOR) {
if (beta > 3.0f * BETA_TABLE[n_y_gps]) {
mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] gps fault %3g %3g %3g %3g %3g %3g",
double(r(0)*r(0) / S_I(0, 0)), double(r(1)*r(1) / S_I(1, 1)), double(r(2)*r(2) / S_I(2, 2)),
double(r(3)*r(3) / S_I(3, 3)), double(r(4)*r(4) / S_I(4, 4)), double(r(5)*r(5) / S_I(5, 5)));
mavlink_log_critical(&mavlink_log_pub, "[lpe] gps fault %3g %3g %3g %3g %3g %3g",
double(r(0)*r(0) / S_I(0, 0)), double(r(1)*r(1) / S_I(1, 1)), double(r(2)*r(2) / S_I(2, 2)),
double(r(3)*r(3) / S_I(3, 3)), double(r(4)*r(4) / S_I(4, 4)), double(r(5)*r(5) / S_I(5, 5)));
}
_gpsFault = FAULT_MINOR;
@@ -232,7 +232,7 @@ void BlockLocalPositionEstimator::gpsCheckTimeout()
if (_gpsInitialized) {
_gpsInitialized = false;
_gpsStats.reset();
mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] GPS timeout ");
mavlink_log_critical(&mavlink_log_pub, "[lpe] GPS timeout ");
}
}
}
src/modules/local_position_estimator/sensors/vision.cpp
+1 -1
View File
@@ -109,7 +109,7 @@ void BlockLocalPositionEstimator::visionCheckTimeout()
if (_visionInitialized) {
_visionInitialized = false;
_visionStats.reset();
mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] vision position timeout ");
mavlink_log_critical(&mavlink_log_pub, "[lpe] vision position timeout ");
}
}
}
src/modules/logger/logger.cpp
+3 -3
View File
@@ -1360,9 +1360,9 @@ int Logger::check_free_space()
/* use a threshold of 50 MiB */
if (statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(50 * 1024 * 1024 / statfs_buf.f_bsize)) {
mavlink_and_console_log_critical(&_mavlink_log_pub,
"[logger] Not logging; SD almost full: %u MiB",
(unsigned int)(statfs_buf.f_bavail / 1024U * statfs_buf.f_bsize / 1024U));
mavlink_log_critical(&_mavlink_log_pub,
"[logger] Not logging; SD almost full: %u MiB",
(unsigned int)(statfs_buf.f_bavail / 1024U * statfs_buf.f_bsize / 1024U));
return 1;
}
src/modules/navigator/geofence.cpp
+2 -2
View File
@@ -141,7 +141,7 @@ bool Geofence::inside(double lat, double lon, float altitude)
if (max_vertical_distance > 0 && (dist_z > max_vertical_distance)) {
if (hrt_elapsed_time(&_last_vertical_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) {
mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(),
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Geofence exceeded max vertical distance by %.1f m",
(double)(dist_z - max_vertical_distance));
_last_vertical_range_warning = hrt_absolute_time();
@@ -152,7 +152,7 @@ bool Geofence::inside(double lat, double lon, float altitude)
if (max_horizontal_distance > 0 && (dist_xy > max_horizontal_distance)) {
if (hrt_elapsed_time(&_last_horizontal_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) {
mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(),
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Geofence exceeded max horizontal distance by %.1f m",
(double)(dist_xy - max_horizontal_distance));
_last_horizontal_range_warning = hrt_absolute_time();
src/modules/navigator/mission.cpp
+3 -3
View File
@@ -1088,7 +1088,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
/* mission item index out of bounds - if they are equal, we just reached the end */
if (*mission_index_ptr != (int)mission->count) {
mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(), "[wpm] err: index: %d, max: %d", *mission_index_ptr,
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "[wpm] err: index: %d, max: %d", *mission_index_ptr,
(int)mission->count);
}
@@ -1103,7 +1103,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
/* read mission item from datamanager */
if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(), "ERROR waypoint could not be read");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR waypoint could not be read");
return false;
}
@@ -1301,7 +1301,7 @@ Mission::reset_offboard_mission(struct mission_s &mission)
}
} else {
mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: could not read mission");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: could not read mission");
/* initialize mission state in dataman */
mission.dataman_id = 0;
src/modules/sdlog2/sdlog2.c
+8 -8
View File
@@ -541,7 +541,7 @@ int open_log_file()
if (file_number > MAX_NO_LOGFILE) {
/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] ERR: max files %d", MAX_NO_LOGFILE);
mavlink_log_critical(&mavlink_log_pub, "[blackbox] ERR: max files %d", MAX_NO_LOGFILE);
return -1;
}
}
@@ -553,7 +553,7 @@ int open_log_file()
#endif
if (fd < 0) {
mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] failed: %s", log_file_name);
mavlink_log_critical(&mavlink_log_pub, "[blackbox] failed: %s", log_file_name);
} else {
mavlink_and_console_log_info(&mavlink_log_pub, "[blackbox] recording: %s", log_file_name);
@@ -593,7 +593,7 @@ int open_perf_file(const char* str)
if (file_number > MAX_NO_LOGFILE) {
/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] ERR: max files %d", MAX_NO_LOGFILE);
mavlink_log_critical(&mavlink_log_pub, "[blackbox] ERR: max files %d", MAX_NO_LOGFILE);
return -1;
}
}
@@ -605,7 +605,7 @@ int open_perf_file(const char* str)
#endif
if (fd < 0) {
mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] failed: %s", log_file_name);
mavlink_log_critical(&mavlink_log_pub, "[blackbox] failed: %s", log_file_name);
}
@@ -732,7 +732,7 @@ void sdlog2_start_log()
/* create log dir if needed */
if (create_log_dir() != 0) {
mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] error creating log dir");
mavlink_log_critical(&mavlink_log_pub, "[blackbox] error creating log dir");
return;
}
@@ -2358,20 +2358,20 @@ int check_free_space()
/* use statfs to determine the number of blocks left */
FAR struct statfs statfs_buf;
if (statfs(mountpoint, &statfs_buf) != OK) {
mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] no microSD card, disabling logging");
mavlink_log_critical(&mavlink_log_pub, "[blackbox] no microSD card, disabling logging");
return PX4_ERROR;
}
/* use a threshold of 50 MiB */
if (statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(50 * 1024 * 1024 / statfs_buf.f_bsize)) {
mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] no space on MicroSD: %u MiB",
mavlink_log_critical(&mavlink_log_pub, "[blackbox] no space on MicroSD: %u MiB",
(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U));
/* we do not need a flag to remember that we sent this warning because we will exit anyway */
return PX4_ERROR;
/* use a threshold of 100 MiB to send a warning */
} else if (!space_warning_sent && statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(100 * 1024 * 1024 / statfs_buf.f_bsize)) {
mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] space on MicroSD low: %u MiB",
mavlink_log_critical(&mavlink_log_pub, "[blackbox] space on MicroSD low: %u MiB",
(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U));
/* we don't want to flood the user with warnings */
space_warning_sent = true;
src/modules/sensors/sensors.cpp
+12 -12
View File
@@ -2185,14 +2185,14 @@ Sensors::check_failover(SensorData &sensor, const char *sensor_name)
PX4_INFO("%s sensor switch from #%i", sensor_name, sensor.voter.failover_index());
} else {
mavlink_and_console_log_emergency(&_mavlink_log_pub, "%s #%i failover :%s%s%s%s%s!",
sensor_name,
sensor.voter.failover_index(),
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " No data" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " Stale data" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " Data timeout" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " High error count" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " High error density" : ""));
mavlink_log_emergency(&_mavlink_log_pub, "%s #%i failover :%s%s%s%s%s!",
sensor_name,
sensor.voter.failover_index(),
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " No data" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " Stale data" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " Data timeout" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " High error count" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " High error density" : ""));
}
sensor.last_failover_count = sensor.voter.failover_count();
@@ -2217,10 +2217,10 @@ Sensors::check_vibration()
} else if (hrt_elapsed_time(&_vibration_warning_timestamp) > 10000 * 1000) {
_vibration_warning = true;
mavlink_and_console_log_critical(&_mavlink_log_pub, "HIGH VIBRATION! g: %d a: %d m: %d",
(int)(100 * _gyro.voter.get_vibration_factor(cur_time)),
(int)(100 * _accel.voter.get_vibration_factor(cur_time)),
(int)(100 * _mag.voter.get_vibration_factor(cur_time)));
mavlink_log_critical(&_mavlink_log_pub, "HIGH VIBRATION! g: %d a: %d m: %d",
(int)(100 * _gyro.voter.get_vibration_factor(cur_time)),
(int)(100 * _accel.voter.get_vibration_factor(cur_time)),
(int)(100 * _mag.voter.get_vibration_factor(cur_time)));
ret = true;
}
src/modules/systemlib/mavlink_log.h
+5 -21
View File
@@ -73,23 +73,7 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
*/
/**
* Send a mavlink emergency message.
*
* @param _pub Pointer to the uORB advert;
* @param _text The text to log;
*/
#define mavlink_log_emergency(_pub, _text, ...) mavlink_vasprintf(_MSG_PRIO_EMERGENCY, _pub, _text, ##__VA_ARGS__);
/**
* Send a mavlink critical message.
*
* @param _pub Pointer to the uORB advert;
* @param _text The text to log;
*/
#define mavlink_log_critical(_pub, _text, ...) mavlink_vasprintf(_MSG_PRIO_CRITICAL, _pub, _text, ##__VA_ARGS__);
/**
* Send a mavlink info message.
* Send a mavlink info message (not printed to console).
*
* @param _pub Pointer to the uORB advert;
* @param _text The text to log;
@@ -102,9 +86,9 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
* @param _pub Pointer to the uORB advert;
* @param _text The text to log;
*/
#define mavlink_and_console_log_emergency(_pub, _text, ...) \
#define mavlink_log_emergency(_pub, _text, ...) \
do { \
mavlink_log_emergency(_pub, _text, ##__VA_ARGS__); \
mavlink_vasprintf(_MSG_PRIO_EMERGENCY, _pub, _text, ##__VA_ARGS__); \
PX4_ERR(_text, ##__VA_ARGS__); \
} while(0);
@@ -114,9 +98,9 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
* @param _pub Pointer to the uORB advert;
* @param _text The text to log;
*/
#define mavlink_and_console_log_critical(_pub, _text, ...) \
#define mavlink_log_critical(_pub, _text, ...) \
do { \
mavlink_log_critical(_pub, _text, ##__VA_ARGS__); \
mavlink_vasprintf(_MSG_PRIO_CRITICAL, _pub, _text, ##__VA_ARGS__); \
PX4_WARN(_text, ##__VA_ARGS__); \
} while(0);
src/modules/systemlib/rc_check.c
+11 -11
View File
@@ -100,7 +100,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
param_t map_parm = param_find(rc_map_mandatory[j]);
if (map_parm == PARAM_INVALID) {
if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: PARAM %s MISSING", rc_map_mandatory[j]); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: PARAM %s MISSING", rc_map_mandatory[j]); }
/* give system time to flush error message in case there are more */
usleep(100000);
@@ -113,7 +113,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
param_get(map_parm, &mapping);
if (mapping > RC_INPUT_MAX_CHANNELS) {
if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: %s >= # CHANS", rc_map_mandatory[j]); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: %s >= # CHANS", rc_map_mandatory[j]); }
/* give system time to flush error message in case there are more */
usleep(100000);
@@ -121,7 +121,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
}
if (mapping == 0) {
if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: Mandatory %s is unmapped", rc_map_mandatory[j]); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: Mandatory %s is unmapped", rc_map_mandatory[j]); }
/* give system time to flush error message in case there are more */
usleep(100000);
@@ -174,7 +174,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (param_min < RC_INPUT_LOWEST_MIN_US) {
count++;
if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: RC_%d_MIN < %u", i + 1, RC_INPUT_LOWEST_MIN_US); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: RC_%d_MIN < %u", i + 1, RC_INPUT_LOWEST_MIN_US); }
/* give system time to flush error message in case there are more */
usleep(100000);
@@ -183,7 +183,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (param_max > RC_INPUT_HIGHEST_MAX_US) {
count++;
if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: RC_%d_MAX > %u", i + 1, RC_INPUT_HIGHEST_MAX_US); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: RC_%d_MAX > %u", i + 1, RC_INPUT_HIGHEST_MAX_US); }
/* give system time to flush error message in case there are more */
usleep(100000);
@@ -192,7 +192,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (param_trim < param_min) {
count++;
if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: RC_%d_TRIM < MIN (%d/%d)", i + 1, (int)param_trim, (int)param_min); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: RC_%d_TRIM < MIN (%d/%d)", i + 1, (int)param_trim, (int)param_min); }
/* give system time to flush error message in case there are more */
usleep(100000);
@@ -201,7 +201,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (param_trim > param_max) {
count++;
if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: RC_%d_TRIM > MAX (%d/%d)", i + 1, (int)param_trim, (int)param_max); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: RC_%d_TRIM > MAX (%d/%d)", i + 1, (int)param_trim, (int)param_max); }
/* give system time to flush error message in case there are more */
usleep(100000);
@@ -209,7 +209,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
/* assert deadzone is sane */
if (param_dz > RC_INPUT_MAX_DEADZONE_US) {
if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: RC_%d_DZ > %u", i + 1, RC_INPUT_MAX_DEADZONE_US); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: RC_%d_DZ > %u", i + 1, RC_INPUT_MAX_DEADZONE_US); }
/* give system time to flush error message in case there are more */
usleep(100000);
@@ -227,9 +227,9 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
sleep(2);
if (report_fail) {
mavlink_and_console_log_critical(mavlink_log_pub, "%d config error%s for %d RC channel%s.",
total_fail_count,
(total_fail_count > 1) ? "s" : "", channels_failed, (channels_failed > 1) ? "s" : "");
mavlink_log_critical(mavlink_log_pub, "%d config error%s for %d RC channel%s.",
total_fail_count,
(total_fail_count > 1) ? "s" : "", channels_failed, (channels_failed > 1) ? "s" : "");
}
usleep(100000);