Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Plane: QAssist speed warning added #25581

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
+3 −3
Open

Plane: QAssist speed warning added #25581

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions ArduPlane/quadplane.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1496,7 +1496,7 @@ bool QuadPlane::should_assist(float aspeed, bool have_airspeed)
// we've been below assistant alt for Q_ASSIST_DELAY seconds
if (!in_alt_assist) {
in_alt_assist = true;
gcs().send_text(MAV_SEVERITY_INFO, "Alt assist %.1fm", height_above_ground);
gcs().send_text(MAV_SEVERITY_WARNING, "Alt assist %.1fm", height_above_ground);
}
return true;
}
Expand Down Expand Up @@ -1541,7 +1541,7 @@ bool QuadPlane::should_assist(float aspeed, bool have_airspeed)
bool ret = (now - angle_error_start_ms) >= assist_delay*1000;
if (ret && !in_angle_assist) {
in_angle_assist = true;
gcs().send_text(MAV_SEVERITY_INFO, "Angle assist r=%d p=%d",
gcs().send_text(MAV_SEVERITY_WARNING, "Angle assist r=%d p=%d",
(int)(ahrs.roll_sensor/100),
(int)(ahrs.pitch_sensor/100));
}
Expand Down Expand Up @@ -1573,7 +1573,7 @@ void SLT_Transition::update()
if (!in_forced_transition) {
const bool show_message = transition_state != TRANSITION_AIRSPEED_WAIT || transition_start_ms == 0;
if (show_message) {
gcs().send_text(MAV_SEVERITY_INFO, "Transition started airspeed %.1f", (double)aspeed);
gcs().send_text(MAV_SEVERITY_WARNING, "QAssist: Transition started airspeed %.1f", (double)aspeed);
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

We do get this message for all normal transitions, I don't think we can issue the warning in that case. We would need to distinguish a assist in the cause of a transition and a "unexpected" assist.

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

can just check motors in UNLIMITED?

}
transition_state = TRANSITION_AIRSPEED_WAIT;
if (transition_start_ms == 0) {
Expand Down