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Commander: mavlink messages cleanup. header variables refactoring.

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2019-03-06 14:46:49 +01:00
committed by Beat Küng
parent b85cceebe9
commit a84a1e1b5a
2 changed files with 19 additions and 19 deletions
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src/modules/commander/Commander.cpp
+16 -16
View File
@@ -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");
}
}
}
src/modules/commander/Commander.hpp
+3 -3
View File
@@ -57,7 +57,7 @@
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/telemetry_status.h>
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};