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Rover: Commonly use standardized wording #26989

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Rover: Commonly use standardized wording #26989

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2 changes: 2 additions & 0 deletions Rover/mode.h
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Original file line number Diff line number Diff line change
Expand Up @@ -545,6 +545,8 @@ class ModeGuided : public Mode
void limit_init_time_and_location();
bool limit_breached() const;

static constexpr const char *timeout_msg = "target not received last 3secs, stopping";

protected:

enum class SubMode: uint8_t {
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6 changes: 3 additions & 3 deletions Rover/mode_guided.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ void ModeGuided::update()
{
// stop vehicle if target not updated within 3 seconds
if (have_attitude_target && (millis() - _des_att_time_ms) > 3000) {
gcs().send_text(MAV_SEVERITY_WARNING, "target not received last 3secs, stopping");
gcs().send_text(MAV_SEVERITY_WARNING, timeout_msg);
have_attitude_target = false;
}
if (have_attitude_target) {
Expand All @@ -77,7 +77,7 @@ void ModeGuided::update()
{
// stop vehicle if target not updated within 3 seconds
if (have_attitude_target && (millis() - _des_att_time_ms) > 3000) {
gcs().send_text(MAV_SEVERITY_WARNING, "target not received last 3secs, stopping");
gcs().send_text(MAV_SEVERITY_WARNING, timeout_msg);
have_attitude_target = false;
}
if (have_attitude_target) {
Expand Down Expand Up @@ -112,7 +112,7 @@ void ModeGuided::update()
// handle timeout
if (_have_strthr && (AP_HAL::millis() - _strthr_time_ms) > 3000) {
_have_strthr = false;
gcs().send_text(MAV_SEVERITY_WARNING, "target not received last 3secs, stopping");
gcs().send_text(MAV_SEVERITY_WARNING, timeout_msg);
}
if (_have_strthr) {
// pass latest steering and throttle directly to motors library
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