VO1-304: QAssist Messages show up on HUD

Changing the severity of QAssist messages so they display on Mission planner HUD and also adding a QAssist message for Airspeed QAssist
CarbonixUAV · Nov 20, 2023 · 9a1207d · 9a1207d
1 parent 76143f4
commit 9a1207d
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
@@ -1357,6 +1357,9 @@ bool QuadPlane::should_assist(float aspeed, bool have_airspeed)
        (((options & OPTION_DISABLE_SYNTHETIC_AIRSPEED_ASSIST) == 0) || ahrs.airspeed_sensor_enabled())) {
         in_angle_assist = false;
         angle_error_start_ms = 0;
+        if (!in_transition() && aspeed > plane.aparm.airspeed_min * 0.5) {
+            gcs().send_text(MAV_SEVERITY_WARNING, "QAssist %.1fm/s", aspeed);
+        }
         return true;
     }
 
@@ -1375,7 +1378,7 @@ 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;
             }
@@ -1420,7 +1423,7 @@ 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));
     }