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Pr commander msg output cleanup #8175

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Pr commander msg output cleanup #8175

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8aa8a27
commander: print message and arm-disarm cleanup
Stifael Oct 23, 2017
99033fb
commander: replace stick counter with static equivalent
Stifael Oct 23, 2017
adc41c0
COM_DISARM_LAND to float
Stifael Oct 23, 2017
f0bd976
commander: revert back to critical info when arming denied
Stifael Oct 25, 2017
05f4da6
commander disarm_when_landed type fix
Stifael Oct 25, 2017
2cbb469
commander: critical to info message for healthy barometer
Stifael Oct 25, 2017
61abb5b
commander: remove unnecessary cast for time with unclear operator order
MaEtUgR Nov 2, 2017
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56 changes: 28 additions & 28 deletions src/modules/commander/PreflightCheck.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,7 +131,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bo
if (!h.isValid()) {
if (!optional) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO MAG SENSOR #%u", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO MAGNETOMETER SENSOR #%u.", instance);
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@Antiheavy Antiheavy Jan 20, 2019 •
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Change no longer needed. Text already improved in this more recent PR: https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R132

}
}

Expand All @@ -142,7 +142,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bo

if (ret) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAG #%u UNCALIBRATED", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAGNETOMETER #%u UNCALIBRATED.", instance);
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@Antiheavy Antiheavy Jan 20, 2019 •
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Change no longer needed. Text already improved in this more recent PR: https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R126

}
success = false;
goto out;
Expand All @@ -152,7 +152,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bo

if (ret != OK) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAG #%u SELFTEST FAILED", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAGNETOMETER #%u SELFTEST FAILED.", instance);
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@Antiheavy Antiheavy Jan 20, 2019 •
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Capitalization and wording should be updated for consistency with this PR: https://github.com/PX4/Firmware/pull/10586/files
Suggested new text: "Preflight Fail: Compass #%u self test failed"

}
success = false;
goto out;
Expand Down Expand Up @@ -251,7 +251,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance,
if (!h.isValid()) {
if (!optional) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO ACCEL SENSOR #%u", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO ACCELEROMETER SENSOR #%u.", instance);
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@Antiheavy Antiheavy Jan 20, 2019 •
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Change no longer needed. Text already improved in this more recent PR: https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R285

}
}

Expand All @@ -262,7 +262,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance,

if (ret) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL #%u UNCALIBRATED", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCELEROMETER #%u UNCALIBRATED.", instance);
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@Antiheavy Antiheavy Jan 20, 2019 •
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Capitalization already improved in this more recent PR: https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R262
However, using full word "accelerometer" is probably better than "Accel"
Suggested new text: "Preflight Fail: accelerometer #%u uncalibrated"

}
success = false;
goto out;
Expand All @@ -272,7 +272,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance,

if (ret != OK) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL #%u TEST FAILED: %d", instance, ret);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCELEROMETER #%u TEST FAILED: %d.", instance, ret);
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@Antiheavy Antiheavy Jan 20, 2019 •
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Capitalization and wording should be updated for consistency with this PR: #10586
Suggested new text: "Preflight Fail: accelerometer #%u test fails: %d"

}
success = false;
goto out;
Expand All @@ -290,15 +290,15 @@ 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_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.");
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R274

}
/* this is frickin' fatal */
success = false;
goto out;
}
} else {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL READ");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCELEROMETER READ.");
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Capitalization and wording should be updated for consistency with this PR: #10586
Suggested new text: "Preflight Fail: accelerometer read"

}
/* this is frickin' fatal */
success = false;
Expand All @@ -324,7 +324,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt
if (!h.isValid()) {
if (!optional) {
if (report_fail) {
mavlink_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);
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R332

}
}

Expand All @@ -335,7 +335,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt

if (ret) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO #%u UNCALIBRATED", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO #%u UNCALIBRATED.", instance);
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R326

}
success = false;
goto out;
Expand All @@ -345,7 +345,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt

if (ret != OK) {
if (report_fail) {
mavlink_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);
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Capitalization and wording should be updated for consistency with this PR: #10586
Suggested new text: "Preflight Fail: gyro #%u self test failed"

}
success = false;
goto out;
Expand All @@ -368,7 +368,7 @@ static bool baroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt
if (!h.isValid()) {
if (!optional) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO BAROMETER SENSOR #%u.", instance);
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R366

}
}

Expand Down Expand Up @@ -405,7 +405,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, bool optional, bool rep
if ((orb_copy(ORB_ID(differential_pressure), fd_diffpres, &differential_pressure) != PX4_OK) ||
(hrt_elapsed_time(&differential_pressure.timestamp) > 1000000)) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING.");
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R392

}
success = false;
goto out;
Expand All @@ -414,7 +414,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, bool optional, bool rep
if ((orb_copy(ORB_ID(airspeed), fd_airspeed, &airspeed) != PX4_OK) ||
(hrt_elapsed_time(&airspeed.timestamp) > 1000000)) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING.");
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R403

}
success = false;
goto out;
Expand All @@ -428,7 +428,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, bool optional, bool rep
*/
if (prearm && fabsf(airspeed.confidence) < 0.95f) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR STUCK");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR STUCK.");
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R419

}
success = false;
goto out;
Expand All @@ -441,7 +441,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, bool optional, bool rep
*/
if (fabsf(differential_pressure.differential_pressure_filtered_pa) > 15.0f && !prearm) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: CHECK AIRSPEED CAL OR PITOT");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: CHECK AIRSPEED CAL OR PITOT.");
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R434

}
success = false;
goto out;
Expand Down Expand Up @@ -481,7 +481,7 @@ static bool gnssCheck(orb_advert_t *mavlink_log_pub, bool report_fail, bool &loc
//Report failure to detect module
if (!success) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GPS RECEIVER MISSING.");
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Hmmm... is this warning still around? this might not be applicable anymore...

}
}

Expand All @@ -506,7 +506,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
param_get(param_find("COM_ARM_EKF_HGT"), &test_limit);
if (status.hgt_test_ratio > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HGT ERROR");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HGT ERROR.");
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R533

}
success = false;
goto out;
Expand All @@ -516,7 +516,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
param_get(param_find("COM_ARM_EKF_VEL"), &test_limit);
if (status.vel_test_ratio > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF VEL ERROR");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF VEL ERROR.");
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R545

}
success = false;
goto out;
Expand All @@ -526,7 +526,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
param_get(param_find("COM_ARM_EKF_POS"), &test_limit);
if (status.pos_test_ratio > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HORIZ POS ERROR");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HORIZ POS ERROR.");
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R557

}
success = false;
goto out;
Expand Down Expand Up @@ -562,7 +562,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
param_get(param_find("COM_ARM_EKF_YAW"), &test_limit);
if (status.mag_test_ratio > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF YAW ERROR");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF YAW ERROR.");
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R569

}
success = false;
goto out;
Expand All @@ -572,7 +572,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
param_get(param_find("COM_ARM_EKF_AB"), &test_limit);
if (fabsf(status.states[13]) > test_limit || fabsf(status.states[14]) > test_limit || fabsf(status.states[15]) > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU ACCEL BIAS");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU ACCELEROMETER BIAS.");
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R582

}
success = false;
goto out;
Expand All @@ -582,7 +582,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
param_get(param_find("COM_ARM_EKF_GB"), &test_limit);
if (fabsf(status.states[10]) > test_limit || fabsf(status.states[11]) > test_limit || fabsf(status.states[12]) > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU GYRO BIAS");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU GYRO BIAS.");
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Change no longer needed. Text already improved in this more recent PR:
https://github.com/PX4/Firmware/pull/10586/files#diff-a2bcb238e25d8a97ab2aee48f54dbc48R595

}
success = false;
goto out;
Expand Down Expand Up @@ -643,7 +643,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "Warning: Primary compass not found");
mavlink_log_critical(mavlink_log_pub, "Primary compass not found.");
}
failed = true;
}
Expand Down Expand Up @@ -678,7 +678,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "Warning: Primary accelerometer not found");
mavlink_log_critical(mavlink_log_pub, "Primary accelerometer not found.");
}
failed = true;
}
Expand Down Expand Up @@ -707,7 +707,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "Warning: Primary gyro not found");
mavlink_log_critical(mavlink_log_pub, "Primary gyro not found.");
}
failed = true;
}
Expand Down Expand Up @@ -737,7 +737,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
// // check if the primary device is present
if (!prime_found && prime_id != 0) {
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "warning: primary barometer not operational");
mavlink_log_critical(mavlink_log_pub, "Primary barometer not operational.");
}
failed = true;
}
Expand All @@ -761,7 +761,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
if (checkRC) {
if (rc_calibration_check(mavlink_log_pub, reportFailures, isVTOL) != OK) {
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "RC calibration check failed");
mavlink_log_critical(mavlink_log_pub, "RC calibration check failed.");
}
failed = true;
}
Expand Down
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