From 408c52bf37ad21f28ab555670051f4b89350800d Mon Sep 17 00:00:00 2001
From: air <30444667+sszdot@users.noreply.github.com>
Date: Fri, 9 May 2025 23:28:31 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E7=B1=BB=20=20=E5=9E=8B=E3=80=91?=
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# 类型 包含:
# feat：新功能（feature）
# fix：修补bug
# docs：文档（documentation）
# style： 格式（不影响代码运行的变动）
# refactor：重构（即不是新增功能，也不是修改bug的代码变动）
# test：增加测试
# chore：构建过程或辅助工具的变动
---
 src/commser.cpp | 22 +++++++++++++++-------
 src/main.cpp    |  1 +
 2 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/src/commser.cpp b/src/commser.cpp
index a792cab..0e26b44 100644
--- a/src/commser.cpp
+++ b/src/commser.cpp
@@ -117,7 +117,7 @@ void mqtt_receiveCallback(char *topic, byte *payload, unsigned int length)
       }
       if (topicPubMsg[12] != "自动")
       {
-        fc.playText("自动模式切换失败，请检查飞控是否正常工作");
+        topicPubMsg[18] = "自动模式切换失败，请检查飞控是否正常工作"; // 终端 打印日志
       }
     }
   }
@@ -605,6 +605,7 @@ void mavlink_receiveCallback(uint8_t c)
         break;
         }
         fc.playText(topicPubMsg[12]);
+        topicPubMsg[18] = "飞控模式切换为" + topicPubMsg[12]; // 终端 打印日志
       }
     }
     break;
@@ -814,23 +815,27 @@ void mavlink_receiveCallback(uint8_t c)
     {
       uint16_t fc_hook_cmd = mavlink_msg_command_long_get_command(&msg);
       uint16_t rngalt_cm = (uint16_t)mavlink_msg_command_long_get_param1(&msg);
-      printf("COMMAND_LONG ID:%d,rng:%dcm \n", fc_hook_cmd, rngalt_cm);
+      // printf("COMMAND_LONG ID:%d,rng:%dcm \n", fc_hook_cmd, rngalt_cm);
+      topicPubMsg[18] = "COMMAND_LONG ID:" + String(fc_hook_cmd) + ",rng:" + String(rngalt_cm) + "cm"; // 终端 打印日志
       switch (fc_hook_cmd)
       {
       // 自动放线
       case MAV_CMD_FC_HOOK_AUTODOWN:
       {
         HookStatus hss = motocontrol.gethooktatus();
-        printf("MAV_CMD_FC_HOOK_AUTODOWN Hook:%d,rng:%dcm \n", hss, rngalt_cm);
+        // printf("MAV_CMD_FC_HOOK_AUTODOWN Hook:%d,rng:%dcm \n", hss, rngalt_cm);
+        topicPubMsg[18] = "MAV_CMD_FC_HOOK_AUTODOWN Hook:" + String(hss) + ",rng:" + String(rngalt_cm) + "cm"; // 终端 打印日志
         // 没有激光高度直接退出
         if (rngalt_cm == 0)
         {
-          printf("exit rngalt_cm==0");
+          // printf("exit rngalt_cm==0");
+          topicPubMsg[18] = "exit rngalt_cm==0，激光高度异常";
           break;
         }
         if (hss == HS_Locked)
         {
           Hook_autodown(rngalt_cm);
+          topicPubMsg[18] = "Hook_autodown";
           // 语音播报3次
           if (fc.questVoiceStr != "")
             fc.playText(fc.questVoiceStr + "。" + fc.questVoiceStr + "。" + fc.questVoiceStr);
@@ -840,21 +845,24 @@ void mavlink_receiveCallback(uint8_t c)
           if (hss == HS_Stop)
             Hook_resume();
           else
-            printf("exit hooktatus error");
+            // printf("exit hooktatus error");
+            topicPubMsg[18] = "exit hooktatus error";
         }
         break;
       }
       // 暂停
       case MAV_CMD_FC_HOOK_PAUSE:
       {
-        printf("MAV_CMD_FC_HOOK_PAUSE \n");
+        // printf("MAV_CMD_FC_HOOK_PAUSE \n");
+        topicPubMsg[18] = "MAV_CMD_FC_HOOK_PAUSE";
         Hook_stop();
         break;
       }
       // 收线 收钩
       case MAV_CMD_FC_HOOK_RECOVERY:
       {
-        printf("MAV_CMD_FC_HOOK_RECOVERY \n");
+        // printf("MAV_CMD_FC_HOOK_RECOVERY \n");
+        topicPubMsg[18] = "MAV_CMD_FC_HOOK_PAUSE";
         Hook_recovery();
         break;
       }
diff --git a/src/main.cpp b/src/main.cpp
index 3dc6712..a61942c 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -230,6 +230,7 @@ void showinfo()
 void begin_tare()
 {
   ESP_LOGD(MOUDLENAME, "begin_tare");
+  topicPubMsg[18] = "begin_tare,校准称重";
   _weightalign_status = WAS_Aligning;
   _needweightalign = true;
   _weightalign_begintm = millis();