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HUD/PrearmStatus: fix failure messages #3250

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HUD/PrearmStatus: fix failure messages #3250

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4 changes: 2 additions & 2 deletions Controls/PrearmStatus.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,8 @@ public partial class PrearmStatus : Form
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);

private DateTime lastRequestTime = DateTime.MinValue;
private DateTime searchTime = DateTime.MinValue;
private DateTime lastRequestTime = DateTime.MaxValue;
private DateTime searchTime = DateTime.MaxValue;
public PrearmStatus()
{
InitializeComponent();
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21 changes: 14 additions & 7 deletions ExtLibs/ArduPilot/CurrentState.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -174,6 +174,8 @@ public bool prearmstatus
get => connected && (sensors_health.prearm || !sensors_enabled.prearm);
}

private DateTime last_good_prearm = DateTime.MaxValue;

private bool useLocation;

/// <summary>
Expand Down Expand Up @@ -1105,10 +1107,10 @@ public string messageHigh
if (value == null || value == "")
return;
// check against get
_messageHighTime = DateTime.Now;
if (messageHigh == value)
return;
log.Info("messageHigh " + value);
_messageHighTime = DateTime.Now;
_messagehigh = value;
messageHighSeverity = MAVLink.MAV_SEVERITY.EMERGENCY;
}
Expand Down Expand Up @@ -2687,12 +2689,7 @@ private void Parent_OnPacketReceived(object sender, MAVLink.MAVLinkMessage mavLi
messageHigh = "InternalError 0x" + (errors_count1 + (errors_count2 << 16)).ToString("X");
}

if (!sensors_health.prearm && sensors_enabled.prearm && sensors_present.prearm)
{
messageHigh = messages.LastOrDefault(a => a.message.ToLower().Contains("prearm")).message
?.ToString();
}
else if (!sensors_health.gps && sensors_enabled.gps && sensors_present.gps)
if (!sensors_health.gps && sensors_enabled.gps && sensors_present.gps)
{
messageHigh = Strings.BadGPSHealth;
}
Expand Down Expand Up @@ -2768,6 +2765,16 @@ private void Parent_OnPacketReceived(object sender, MAVLink.MAVLinkMessage mavLi
{
messageHigh = Strings.BadAirspeed;
}
else if (!sensors_health.prearm && sensors_enabled.prearm && sensors_present.prearm)
{
messageHigh = messages.LastOrDefault(a =>
a.message.ToLower().Contains("prearm") &&
a.time > last_good_prearm).message?.ToString();
}
if (last_good_prearm > DateTime.Now || sensors_health.prearm || !sensors_enabled.prearm || !sensors_present.prearm)
{
last_good_prearm = DateTime.Now;
}
}

break;
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