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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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32
src/modules/commander/state_machine_helper.cpp
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@@ -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");
}
}