Merge pull request #1347 from Susurrus/audio_imps

Audio improvements

src/uas/UAS.cc

@@ -561,7 +561,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             if (statechanged && ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY))
             {
-                GAudioOutput::instance()->say(QString("emergency for system %1").arg(this->getUASID()), GAudioOutput::AUDIO_SEVERITY_EMERGENCY);
+                GAudioOutput::instance()->say(QString("Emergency for system %1").arg(this->getUASID()), GAudioOutput::AUDIO_SEVERITY_EMERGENCY);
                 QTimer::singleShot(3000, GAudioOutput::instance(), SLOT(startEmergency()));
             }
             else if (modechanged || statechanged)
@@ -617,7 +617,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     /* warn only every 12 seconds */
                     && (QGC::groundTimeUsecs() - lastVoltageWarning) > 12000000)
             {
-                GAudioOutput::instance()->say(QString("voltage warning: %1 volts").arg(lpVoltage, 0, 'f', 1, QChar(' ')));
+                GAudioOutput::instance()->say(QString("Voltage warning for system %1: %2 volts").arg(getUASID()).arg(lpVoltage, 0, 'f', 1, QChar(' ')));
                 lastVoltageWarning = QGC::groundTimeUsecs();
                 lastTickVoltageValue = tickLowpassVoltage;
             }
@@ -1209,7 +1209,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_mission_item_reached_t wpr;
             mavlink_msg_mission_item_reached_decode(&message, &wpr);
             waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr);
-            QString text = QString("System %1 reached waypoint %2").arg(getUASName()).arg(wpr.seq);
+            QString text = QString("System %1 reached waypoint %2").arg(getUASID()).arg(wpr.seq);
             GAudioOutput::instance()->say(text);
             emit textMessageReceived(message.sysid, message.compid, MAV_SEVERITY_INFO, text);
         }
@@ -3360,7 +3360,7 @@ void UAS::startLowBattAlarm()
 {
     if (!lowBattAlarm)
     {
-        GAudioOutput::instance()->alert(tr("system %1 has low battery").arg(getUASName()));
+        GAudioOutput::instance()->alert(tr("System %1 has low battery").arg(getUASID()));
         QTimer::singleShot(3000, GAudioOutput::instance(), SLOT(startEmergency()));
         lowBattAlarm = true;
     }