GCS_MAVLink: Add _MSG_NTC_LVL parameter to filter text messages by severity

Author: nttedt-murata

libraries/GCS_MAVLink/GCS.cpp

@@ -234,6 +234,12 @@ const AP_Param::GroupInfo GCS::var_info[] {
     // @Path: GCS_MAVLink_Parameters.cpp
     AP_SUBGROUPVARPTR(_chan[31], "32", 42, GCS, _chan_var_info[31]),
 #endif
+    // @Param: _MSG_NTC_LVL
+    // @DisplayName: Message Notification Level
+    // @Description: Filter level for GCS text messages. Only messages with a severity equal to or higher than this level will be sent. 0:Emergency only, 7:All (including Debug).
+    // @Values: 0:Emergency, 1:Alert, 2:Critical, 3:Error, 4:Warning, 5:Notice, 6:Info, 7:Debug
+    // @User: Standard
+    AP_GROUPINFO("_MSG_NTC_LVL", 43, GCS, mav_msg_notice_level, 7),
 
     AP_GROUPEND
 };
@@ -293,6 +299,9 @@ void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list)
 
 void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...)
 {
+    if (severity > mav_msg_notice_level) {
+        return;
+    }
     va_list arg_list;
     va_start(arg_list, fmt);
     send_textv(severity, fmt, arg_list);

libraries/GCS_MAVLink/GCS.h

@@ -1324,6 +1324,7 @@ class GCS
     AP_Int16                 mav_gcs_sysid_high;
     AP_Enum16<Option>        mav_options;
     AP_Int8                  mav_telem_delay;
+    AP_Int8                  mav_msg_notice_level;
 
 private: