Global: Align mavlink message level with event message level

src/drivers/camera_capture/camera_capture.cpp

@@ -152,7 +152,7 @@ CameraCapture::publish_trigger()
 	if (_trigger_rate_failure.load()) {
 		mavlink_log_warning(&_mavlink_log_pub, "Hardware fault: Camera capture disabled\t");
 		events::send(events::ID("camera_capture_trigger_rate_exceeded"),
-			     events::Log::Error, "Hardware fault: Camera capture disabled");
+			     events::Log::Warning, "Hardware fault: Camera capture disabled");
 		_trigger_rate_failure.store(false);
 	}
 

src/drivers/pps_capture/PPSCapture.cpp

@@ -138,7 +138,7 @@ void PPSCapture::Run()
 	if (_pps_rate_failure.load()) {
 		mavlink_log_warning(&_mavlink_log_pub, "Hardware fault: GPS PPS disabled\t");
 		events::send(events::ID("pps_capture_pps_rate_exceeded"),
-			     events::Log::Error, "Hardware fault: GPS PPS disabled");
+			     events::Log::Warning, "Hardware fault: GPS PPS disabled");
 		_pps_rate_failure.store(false);
 	}
 }

src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp

@@ -554,12 +554,12 @@ void SagetechMXS::handle_ack(const sg_ack_t ack)
 	// System health
 	if (ack.failXpdr && !last.failXpdr) {
 		mavlink_log_info(&_mavlink_log_pub, "Transponder Failure\t");
-		events::send(events::ID("mxs_xpdr_fail"), events::Log::Critical, "Transponder Failure");
+		events::send(events::ID("mxs_xpdr_fail"), events::Log::Info, "Transponder Failure");
 	}
 
 	if (ack.failSystem && !last.failSystem) {
 		mavlink_log_info(&_mavlink_log_pub, "Transponder System Failure\t");
-		events::send(events::ID("mxs_system_fail"), events::Log::Critical, "Transponder System Failure");
+		events::send(events::ID("mxs_system_fail"), events::Log::Info, "Transponder System Failure");
 	}
 
 	last.failXpdr = ack.failXpdr;

src/lib/collision_prevention/CollisionPrevention.cpp

@@ -160,7 +160,7 @@ CollisionPrevention::_addObstacleSensorData(const obstacle_distance_s &obstacle,
 	} else {
 		mavlink_log_critical(&_mavlink_log_pub, "Obstacle message received in unsupported frame %i\t",
 				     obstacle.frame);
-		events::send<uint8_t>(events::ID("col_prev_unsup_frame"), events::Log::Error,
+		events::send<uint8_t>(events::ID("col_prev_unsup_frame"), events::Log::Critical,
 				      "Obstacle message received in unsupported frame {1}", obstacle.frame);
 	}
 }

src/modules/airspeed_selector/airspeed_selector_main.cpp

@@ -662,7 +662,7 @@ void AirspeedModule::select_airspeed_and_publish()
 
 		} else if (_prev_airspeed_index == 0 && _valid_airspeed_index == -1) {
 			mavlink_log_info(&_mavlink_log_pub, "Airspeed estimation invalid\t");
-			events::send(events::ID("airspeed_selector_estimation_invalid"), events::Log::Error,
+			events::send(events::ID("airspeed_selector_estimation_invalid"), events::Log::Info,
 				     "Airspeed estimation invalid");
 
 		} else if (_prev_airspeed_index == -1 && _valid_airspeed_index == 0) {

src/modules/commander/Commander.cpp

@@ -837,7 +837,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 						default:
 							main_ret = TRANSITION_DENIED;
 							mavlink_log_critical(&_mavlink_log_pub, "Unsupported auto mode\t");
-							events::send(events::ID("commander_unsupported_auto_mode"), events::Log::Error,
+							events::send(events::ID("commander_unsupported_auto_mode"), events::Log::Critical,
 								     "Unsupported auto mode");
 							break;
 						}
@@ -917,7 +917,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 			if (arming_action != vehicle_command_s::ARMING_ACTION_ARM
 			    && arming_action != vehicle_command_s::ARMING_ACTION_DISARM) {
 				mavlink_log_critical(&_mavlink_log_pub, "Unsupported ARM_DISARM param: %.3f\t", (double)cmd.param1);
-				events::send<float>(events::ID("commander_unsupported_arm_disarm_param"), events::Log::Error,
+				events::send<float>(events::ID("commander_unsupported_arm_disarm_param"), events::Log::Critical,
 						    "Unsupported ARM_DISARM param: {1:.3}", cmd.param1);
 
 			} else {
@@ -2811,7 +2811,7 @@ void Commander::dataLinkCheck()
 			_vehicle_status.gcs_connection_lost_counter++;
 
 			mavlink_log_info(&_mavlink_log_pub, "Connection to ground station lost\t");
-			events::send(events::ID("commander_gcs_lost"), {events::Log::Warning, events::LogInternal::Info},
+			events::send(events::ID("commander_gcs_lost"), {events::Log::Info, events::LogInternal::Info},
 				     "Connection to ground control station lost");
 
 			_status_changed = true;
@@ -2872,7 +2872,7 @@ void Commander::battery_status_check()
 
 			if (!isArmed() && (px4_shutdown_request(60_s) == 0)) {
 				mavlink_log_critical(&_mavlink_log_pub, "Dangerously low battery! Shutting system down in 60 seconds\t");
-				events::send(events::ID("commander_low_bat_shutdown"), {events::Log::Emergency, events::LogInternal::Warning},
+				events::send(events::ID("commander_low_bat_shutdown"), {events::Log::Critical, events::LogInternal::Warning},
 					     "Dangerously low battery! Shutting system down");
 
 				while (1) { px4_usleep(1); }
@@ -2882,7 +2882,7 @@ void Commander::battery_status_check()
 				/* EVENT
 				 * @description Cannot shut down, most likely the system does not support it.
 				 */
-				events::send(events::ID("commander_low_bat_shutdown_failed"), {events::Log::Emergency, events::LogInternal::Error},
+				events::send(events::ID("commander_low_bat_shutdown_failed"), {events::Log::Critical, events::LogInternal::Error},
 					     "Dangerously low battery! System shut down failed");
 			}
 

src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp

@@ -679,7 +679,7 @@ void EstimatorChecks::lowPositionAccuracy(const Context &context, Report &report
 			 * This check can be configured via <param>COM_POS_LOW_EPH</param> parameter.
 			 * </profile>
 			 */
-			events::send(events::ID("check_estimator_low_position_accuracy"), {events::Log::Error, events::LogInternal::Info},
+			events::send(events::ID("check_estimator_low_position_accuracy"), {events::Log::Warning, events::LogInternal::Info},
 				     "Local position estimate has low accuracy");
 
 			if (reporter.mavlink_log_pub()) {
@@ -751,7 +751,7 @@ void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_f
 				* This warning is triggered when the position error estimate is 90% of (or only 10m below) <param>COM_POS_FS_EPH</param> parameter.
 				* </profile>
 				*/
-				events::send(events::ID("check_estimator_position_failure_imminent"), {events::Log::Error, events::LogInternal::Info},
+				events::send(events::ID("check_estimator_position_failure_imminent"), {events::Log::Critical, events::LogInternal::Info},
 					     "Estimated position error is approaching the failsafe threshold");
 
 				if (reporter.mavlink_log_pub()) {

src/modules/commander/calibration_routines.cpp

@@ -347,7 +347,7 @@ bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, const hrt_abstime &ca
 				} else {
 					command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
 					mavlink_log_critical(mavlink_log_pub, "command denied during calibration: %" PRIu32 "\t", cmd.command);
-					events::send<uint32_t>(events::ID("commander_cal_cmd_denied"), {events::Log::Error, events::LogInternal::Info},
+					events::send<uint32_t>(events::ID("commander_cal_cmd_denied"), {events::Log::Critical, events::LogInternal::Info},
 							       "Command denied during calibration: {1}", cmd.command);
 					tune_negative(true);
 					ret = false;

src/modules/commander/rc_calibration.cpp

@@ -59,7 +59,7 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub)
 
 	if (!changed) {
 		mavlink_log_critical(mavlink_log_pub, "no inputs, aborting\t");
-		events::send(events::ID("commander_cal_no_inputs"), {events::Log::Error, events::LogInternal::Info},
+		events::send(events::ID("commander_cal_no_inputs"), {events::Log::Critical, events::LogInternal::Info},
 			     "No inputs, aborting RC trim calibration");
 		return PX4_ERROR;
 	}

src/modules/ekf2/EKF2.cpp

@@ -852,7 +852,7 @@ void EKF2::VerifyParams()
 		/* EVENT
 		 * @description <param>EKF2_MAG_TYPE</param> is set to {1:.0}.
 		 */
-		events::send<float>(events::ID("ekf2_mag_type_invalid"), events::Log::Warning,
+		events::send<float>(events::ID("ekf2_mag_type_invalid"), events::Log::Critical,
 				    "EKF2_MAG_TYPE invalid, resetting to default", _param_ekf2_mag_type.get());
 
 		_param_ekf2_mag_type.set(0);

src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp

@@ -84,7 +84,7 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command, b
 
 	} else {
 		mavlink_log_critical(&_mavlink_log_pub, "Orbit radius limit exceeded\t");
-		events::send(events::ID("orbit_radius_exceeded"), events::Log::Alert, "Orbit radius limit exceeded");
+		events::send(events::ID("orbit_radius_exceeded"), events::Log::Critical, "Orbit radius limit exceeded");
 		success = false;
 	}
 

src/modules/logger/util.cpp

@@ -234,7 +234,7 @@ int check_free_space(const char *log_root_dir, int32_t max_log_dirs_to_keep, orb
 		 * @description Either manually free up some space, or enable automatic log rotation
 		 * via <param>SDLOG_DIRS_MAX</param>.
 		 */
-		events::send<uint32_t>(events::ID("logger_storage_full"), events::Log::Error,
+		events::send<uint32_t>(events::ID("logger_storage_full"), events::Log::Critical,
 				       "Not logging, storage is almost full: {1} MiB", (uint32_t)(statfs_buf.f_bavail * statfs_buf.f_bsize / 1024U / 1024U));
 		return 1;
 	}

src/modules/manual_control/ManualControl.cpp

@@ -316,7 +316,7 @@ void ManualControl::updateParams()
 				/* EVENT
 				* @description <param>MAN_ARM_GESTURE</param> is now set to disable arm/disarm stick gesture.
 				*/
-				events::send(events::ID("rc_update_arm_stick_gesture_disabled_with_switch"), {events::Log::Info, events::LogInternal::Disabled},
+				events::send(events::ID("rc_update_arm_stick_gesture_disabled_with_switch"), {events::Log::Critical, events::LogInternal::Disabled},
 					     "Arm stick gesture disabled if arm switch in use");
 			}
 		}
@@ -338,7 +338,7 @@ void ManualControl::updateParams()
 					/* EVENT
 					* @description <param>MC_AIRMODE</param> is now set to roll/pitch airmode.
 					*/
-					events::send(events::ID("commander_airmode_requires_no_arm_gesture"), {events::Log::Error, events::LogInternal::Disabled},
+					events::send(events::ID("commander_airmode_requires_no_arm_gesture"), {events::Log::Critical, events::LogInternal::Disabled},
 						     "Yaw Airmode requires disabling the stick arm gesture");
 				}
 			}

src/modules/mavlink/mavlink_mission.cpp

@@ -351,7 +351,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
 
 	default:
 		_mavlink.send_statustext_critical("Received unknown mission type, abort.\t");
-		events::send(events::ID("mavlink_mission_recv_unknown_mis_type"), events::Log::Error,
+		events::send(events::ID("mavlink_mission_recv_unknown_mis_type"), events::Log::Critical,
 			     "Received unknown mission type, abort");
 		break;
 	}
@@ -395,7 +395,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
 			/* EVENT
 			 * @description Mission type: {1}
 			 */
-			events::send<uint8_t>(events::ID("mavlink_mission_storage_read_failure"), events::Log::Error,
+			events::send<uint8_t>(events::ID("mavlink_mission_storage_read_failure"), events::Log::Critical,
 					      "Mission: Unable to read from storage", _mission_type);
 		}
 
@@ -467,7 +467,7 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
 
 	} else {
 		_mavlink.send_statustext_critical("ERROR: Waypoint index exceeds list capacity\t");
-		events::send<uint16_t>(events::ID("mavlink_mission_wp_index_exceeds_list"), events::Log::Error,
+		events::send<uint16_t>(events::ID("mavlink_mission_wp_index_exceeds_list"), events::Log::Critical,
 				       "Waypoint index eceeds list capacity (maximum: {1})", current_max_item_count());
 
 		PX4_DEBUG("WPM: Send MISSION_REQUEST ERROR: seq %u exceeds list capacity", seq);
@@ -510,7 +510,7 @@ MavlinkMissionManager::send()
 
 				} else {
 					_mavlink.send_statustext_critical("ERROR: wp index out of bounds\t");
-					events::send<uint16_t, uint16_t>(events::ID("mavlink_mission_wp_index_out_of_bounds"), events::Log::Error,
+					events::send<uint16_t, uint16_t>(events::ID("mavlink_mission_wp_index_out_of_bounds"), events::Log::Critical,
 									 "Waypoint index out of bounds (current {1} \\>= total {2})", mission_result.seq_current, mission_result.seq_total);
 				}
 			}
@@ -563,7 +563,7 @@ MavlinkMissionManager::send()
 		   && hrt_elapsed_time(&_time_last_recv) > MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT) {
 
 		_mavlink.send_statustext_critical("Operation timeout\t");
-		events::send(events::ID("mavlink_mission_op_timeout"), events::Log::Error,
+		events::send(events::ID("mavlink_mission_op_timeout"), events::Log::Critical,
 			     "Operation timeout, aborting transfer");
 
 		PX4_DEBUG("WPM: Last operation (state=%d) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state);
@@ -675,7 +675,7 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
 
 		} else {
 			_mavlink.send_statustext_critical("REJ. WP CMD: partner id mismatch\t");
-			events::send(events::ID("mavlink_mission_partner_id_mismatch"), events::Log::Error,
+			events::send(events::ID("mavlink_mission_partner_id_mismatch"), events::Log::Critical,
 				     "Rejecting waypoint command, component or system ID mismatch");
 
 			PX4_DEBUG("WPM: MISSION_ACK ERR: ID mismatch");
@@ -700,15 +700,15 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
 				PX4_ERR("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq);
 
 				_mavlink.send_statustext_critical("WPM: WP CURR CMD: Not in list\t");
-				events::send(events::ID("mavlink_mission_seq_out_of_bounds"), events::Log::Error,
+				events::send(events::ID("mavlink_mission_seq_out_of_bounds"), events::Log::Critical,
 					     "New mission waypoint sequence out of bounds");
 			}
 
 		} else {
 			PX4_DEBUG("WPM: MISSION_SET_CURRENT ERROR: busy");
 
 			_mavlink.send_statustext_critical("WPM: IGN WP CURR CMD: Busy\t");
-			events::send(events::ID("mavlink_mission_state_busy"), events::Log::Error,
+			events::send(events::ID("mavlink_mission_state_busy"), events::Log::Critical,
 				     "Mission manager currently busy, ignoring new waypoint index");
 		}
 	}
@@ -769,7 +769,7 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
 			PX4_DEBUG("WPM: MISSION_REQUEST_LIST ERROR: busy");
 
 			_mavlink.send_statustext_info("Mission download request ignored, already active\t");
-			events::send(events::ID("mavlink_mission_req_ignored"), events::Log::Warning,
+			events::send(events::ID("mavlink_mission_req_ignored"), events::Log::Info,
 				     "Mission download request ignored, already active");
 		}
 	}
@@ -844,7 +844,7 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
 
 					send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
 					_mavlink.send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected\t");
-					events::send(events::ID("mavlink_mission_wp_unexpected"), events::Log::Error,
+					events::send(events::ID("mavlink_mission_wp_unexpected"), events::Log::Critical,
 						     "Unexpected waypoint index, aborting transfer");
 					return;
 				}
@@ -861,7 +861,7 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
 
 					send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
 					_mavlink.send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected\t");
-					events::send(events::ID("mavlink_mission_wp_unexpected2"), events::Log::Error,
+					events::send(events::ID("mavlink_mission_wp_unexpected2"), events::Log::Critical,
 						     "Unexpected waypoint index, aborting mission transfer");
 				}
 
@@ -875,13 +875,13 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
 				PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: busy (state %d).", _state);
 
 				_mavlink.send_statustext_critical("WPM: REJ. CMD: Busy\t");
-				events::send(events::ID("mavlink_mission_mis_req_ignored_busy"), events::Log::Error,
+				events::send(events::ID("mavlink_mission_mis_req_ignored_busy"), events::Log::Critical,
 					     "Ignoring mission request, currently busy");
 			}
 
 		} else {
 			_mavlink.send_statustext_critical("WPM: REJ. CMD: partner id mismatch\t");
-			events::send(events::ID("mavlink_mission_partner_id_mismatch2"), events::Log::Error,
+			events::send(events::ID("mavlink_mission_partner_id_mismatch2"), events::Log::Critical,
 				     "Rejecting mission request command, component or system ID mismatch");
 
 			PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: rejected, partner ID mismatch");
@@ -1001,7 +1001,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
 				PX4_DEBUG("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq);
 
 				_mavlink.send_statustext_critical("WPM: REJ. CMD: Busy\t");
-				events::send(events::ID("mavlink_mission_getlist_busy"), events::Log::Error,
+				events::send(events::ID("mavlink_mission_getlist_busy"), events::Log::Critical,
 					     "Mission upload busy, already receiving waypoint");
 
 				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
@@ -1012,7 +1012,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
 			PX4_DEBUG("WPM: MISSION_COUNT ERROR: busy, state %i", _state);
 
 			_mavlink.send_statustext_critical("WPM: IGN MISSION_COUNT: Busy\t");
-			events::send(events::ID("mavlink_mission_ignore_mis_count"), events::Log::Error,
+			events::send(events::ID("mavlink_mission_ignore_mis_count"), events::Log::Critical,
 				     "Mission upload busy, ignoring MISSION_COUNT");
 			send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
 			return;
@@ -1089,7 +1089,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
 				PX4_DEBUG("WPM: MISSION_ITEM ERROR: no transfer");
 
 				_mavlink.send_statustext_critical("IGN MISSION_ITEM: No transfer\t");
-				events::send(events::ID("mavlink_mission_no_transfer"), events::Log::Error,
+				events::send(events::ID("mavlink_mission_no_transfer"), events::Log::Critical,
 					     "Ignoring mission item, no transfer in progress");
 				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
 			}
@@ -1100,7 +1100,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
 			PX4_DEBUG("WPM: MISSION_ITEM ERROR: busy, state %i", _state);
 
 			_mavlink.send_statustext_critical("IGN MISSION_ITEM: Busy\t");
-			events::send(events::ID("mavlink_mission_mis_item_busy"), events::Log::Error,
+			events::send(events::ID("mavlink_mission_mis_item_busy"), events::Log::Critical,
 				     "Ignoring mission item, busy");
 			send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
 			return;
@@ -1114,7 +1114,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
 			PX4_DEBUG("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq);
 
 			_mavlink.send_statustext_critical("IGN MISSION_ITEM: Invalid item\t");
-			events::send(events::ID("mavlink_mission_mis_item_invalid"), events::Log::Error,
+			events::send(events::ID("mavlink_mission_mis_item_invalid"), events::Log::Critical,
 				     "Ignoring mission item, invalid item");
 
 			send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, ret);
@@ -1209,7 +1209,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
 
 		default:
 			_mavlink.send_statustext_critical("Received unknown mission type, abort.\t");
-			events::send(events::ID("mavlink_mission_unknown_mis_type"), events::Log::Error,
+			events::send(events::ID("mavlink_mission_unknown_mis_type"), events::Log::Critical,
 				     "Received unknown mission type, abort");
 			break;
 		}
@@ -1221,7 +1221,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
 
 			if (write_failed) {
 				_mavlink.send_statustext_critical("Unable to write on micro SD\t");
-				events::send(events::ID("mavlink_mission_storage_failure"), events::Log::Error,
+				events::send(events::ID("mavlink_mission_storage_failure"), events::Log::Critical,
 					     "Mission: unable to write to storage");
 			}
 
@@ -1362,7 +1362,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
 
 		} else {
 			_mavlink.send_statustext_critical("WPM: IGN CLEAR CMD: Busy\t");
-			events::send(events::ID("mavlink_mission_ignore_clear"), events::Log::Error,
+			events::send(events::ID("mavlink_mission_ignore_clear"), events::Log::Critical,
 				     "Ignoring mission clear command, busy");
 
 			PX4_DEBUG("WPM: CLEAR_ALL IGNORED: busy");