From b6e9369cbcd44dec33662fd10da794a4cdffe93c Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Sat, 9 Apr 2016 19:15:19 -0700
Subject: [PATCH] Better command failure output
---
src/MissionManager/MavCmdInfoCommon.json | 4 +--
src/uas/UAS.cc | 37 ++++++++++++------------
2 files changed, 20 insertions(+), 21 deletions(-)
diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json
index 717a3f3ce5..ac0d766eb7 100644
--- a/src/MissionManager/MavCmdInfoCommon.json
+++ b/src/MissionManager/MavCmdInfoCommon.json
@@ -392,7 +392,7 @@
}
},
{ "id": 159, "rawName": "MAV_CMD_CONDITION_LAST", "friendlyName": "MAV_CMD_CONDITION_LAST" },
- { "id": 176, "rawName": "MAV_CMD_DO_SET_MODE", "friendlyName": "MAV_CMD_DO_SET_MODE" },
+ { "id": 176, "rawName": "MAV_CMD_DO_SET_MODE", "friendlyName": "Set mode" },
{
"id": 177,
"rawName": "MAV_CMD_DO_JUMP",
@@ -804,7 +804,7 @@
},
{ "id": 252, "rawName": "MAV_CMD_OVERRIDE_GOTO", "friendlyName": "MAV_CMD_OVERRIDE_GOTO" },
{ "id": 300, "rawName": "MAV_CMD_MISSION_START", "friendlyName": "MAV_CMD_MISSION_START" },
- { "id": 400, "rawName": "MAV_CMD_COMPONENT_ARM_DISARM", "friendlyName": "MAV_CMD_COMPONENT_ARM_DISARM" },
+ { "id": 400, "rawName": "MAV_CMD_COMPONENT_ARM_DISARM", "friendlyName": "Arm/Disarm" },
{ "id": 2000, "rawName": "MAV_CMD_IMAGE_START_CAPTURE", "friendlyName": "MAV_CMD_IMAGE_START_CAPTURE" },
{ "id": 2001, "rawName": "MAV_CMD_IMAGE_STOP_CAPTURE", "friendlyName": "MAV_CMD_IMAGE_STOP_CAPTURE" },
{ "id": 2003, "rawName": "MAV_CMD_DO_TRIGGER_CONTROL", "friendlyName": "MAV_CMD_DO_TRIGGER_CONTROL" },
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 07d7b829f6..f1c0e52cda 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -38,6 +38,7 @@
#include "Vehicle.h"
#include "Joystick.h"
#include "QGCApplication.h"
+#include "MissionCommands.h"
QGC_LOGGING_CATEGORY(UASLog, "UASLog")
@@ -610,34 +611,32 @@ void UAS::receiveMessage(mavlink_message_t message)
{
mavlink_command_ack_t ack;
mavlink_msg_command_ack_decode(&message, &ack);
+
emit commandAck(this, message.compid, ack.command, ack.result);
- switch (ack.result)
- {
- case MAV_RESULT_ACCEPTED:
- {
- // Do not confirm each command positively, as it spams the console.
- // emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_INFO, tr("SUCCESS: Executed CMD: %1").arg(ack.command));
+
+ QString commandName;
+ MavCmdInfo* cmdInfo = qgcApp()->toolbox()->missionCommands()->getMavCmdInfo((MAV_CMD)ack.command, _vehicle);
+ if (cmdInfo) {
+ commandName = cmdInfo->friendlyName();
+ } else {
+ commandName = ack.command;
}
- break;
+
+ switch (ack.result) {
case MAV_RESULT_TEMPORARILY_REJECTED:
- {
- emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_WARNING, tr("FAILURE: Temporarily rejected CMD: %1").arg(ack.command));
- }
+ emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_WARNING, tr("%1 temporarily rejected").arg(commandName));
break;
case MAV_RESULT_DENIED:
- {
- emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_ERROR, tr("FAILURE: Denied CMD: %1").arg(ack.command));
- }
+ emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_ERROR, tr("%1 denied").arg(commandName));
break;
case MAV_RESULT_UNSUPPORTED:
- {
- emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_WARNING, tr("FAILURE: Unsupported CMD: %1").arg(ack.command));
- }
+ emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_WARNING, tr("%1 unsupported").arg(commandName));
break;
case MAV_RESULT_FAILED:
- {
- emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_ERROR, tr("FAILURE: Failed CMD: %1").arg(ack.command));
- }
+ emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_ERROR, tr("%1 failed").arg(commandName));
+ break;
+ default:
+ // Do nothing
break;
}
}
--
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