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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
2016-09-20 12:56:08 +02:00
committed by Julian Oes
parent 241fd629ce
commit ce0d31b7d9
17 changed files with 116 additions and 132 deletions
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44
src/modules/commander/PreflightCheck.cpp
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@@ -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;
}