Merged commander fixes into airspeed_test_fix

1 files changed, 13 insertions, 13 deletions

diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index e90c77af4..09ea12c38 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -88,7 +88,7 @@ static const bool arming_transitions[ARMING_STATE_MAX][ARMING_STATE_MAX] = {
 };
 
 // You can index into the array with an arming_state_t in order to get it's textual representation
-static const char *state_names[ARMING_STATE_MAX] = {
+static const char * const state_names[ARMING_STATE_MAX] = {
 	"ARMING_STATE_INIT",
 	"ARMING_STATE_STANDBY",
 	"ARMING_STATE_ARMED",
@@ -161,7 +161,7 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 					// Fail transition if we need safety switch press
 					} else if (safety->safety_switch_available && !safety->safety_off) {
 
-						mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch!");
+						mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch!");
 
 						valid_transition = false;
 					}
@@ -172,16 +172,16 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 						// Fail transition if power is not good
 						if (!status->condition_power_input_valid) {
 
-							mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module.");
+							mavlink_log_critical(mavlink_fd, "NOT ARMING: Connect power module.");
 							valid_transition = false;
 						}
 
 						// Fail transition if power levels on the avionics rail
 						// are measured but are insufficient
-						if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f) &&
-							(status->avionics_power_rail_voltage < 4.9f)) {
+						if (status->condition_power_input_valid && ((status->avionics_power_rail_voltage > 0.0f) &&
+							(status->avionics_power_rail_voltage < 4.9f))) {
 
-							mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
+							mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
 							valid_transition = false;
 						}
 					}
@@ -626,7 +626,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 	int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0) {
-		mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL SENSOR MISSING");
+		mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL SENSOR MISSING");
 		failed = true;
 		goto system_eval;
 	}
@@ -634,7 +634,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 	ret = ioctl(fd, ACCELIOCSELFTEST, 0);
 
 	if (ret != OK) {
-		mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL CALIBRATION");
+		mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL CALIBRATION");
 		failed = true;
 		goto system_eval;
 	}
@@ -648,14 +648,14 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 		float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
 
 		if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
-			mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE");
-			mavlink_log_info(mavlink_fd, "#audio: hold still while arming");
+			mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE");
+			mavlink_log_critical(mavlink_fd, "hold still while arming");
 			/* this is frickin' fatal */
 			failed = true;
 			goto system_eval;
 		}
 	} else {
-		mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL READ");
+		mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL READ");
 		/* this is frickin' fatal */
 		failed = true;
 		goto system_eval;
@@ -670,13 +670,13 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 
 		if (ret = orb_copy(ORB_ID(airspeed), fd, &airspeed) ||
 			hrt_elapsed_time(&airspeed.timestamp) > 50 * 1000) {
-			mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING");
+			mavlink_log_critical(mavlink_fd, "ARM FAIL: AIRSPEED SENSOR MISSING");
 			failed = true;
 			goto system_eval;
 		}
 
 		if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) {
-			mavlink_log_critical(mavlink_fd, "#audio: WIND OR CALIBRATION MISSING");
+			mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING");
 			// XXX do not make this fatal yet
 		}
 	}