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commander: play warning tune (as for low battery) when in failsafe state

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This commit is contained in:
Anton Babushkin
2014-02-11 09:13:51 +01:00
parent 855944fb2e
commit 0613b299c0
1 changed files with 6 additions and 9 deletions
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src/modules/commander/commander.cpp
+6 -9
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@@ -1311,14 +1311,14 @@ int commander_thread_main(int argc, char *argv[])
/* play tune when armed */
set_tune(TONE_ARMING_WARNING_TUNE);
} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
/* play tune on battery warning */
set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) {
/* play tune on battery critical */
set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW || status.failsafe_state != FAILSAFE_STATE_NORMAL) {
/* play tune on battery warning or failsafe */
set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
} else if (battery_tune_played) {
set_tune(TONE_STOP_TUNE);
battery_tune_played = false;
@@ -1420,11 +1420,8 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
if (set_normal_color) {
/* set color */
if (status->battery_warning != VEHICLE_BATTERY_WARNING_NONE) {
if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
rgbled_set_color(RGBLED_COLOR_AMBER);
}
if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status->failsafe_state != FAILSAFE_STATE_NORMAL) {
rgbled_set_color(RGBLED_COLOR_AMBER);
/* VEHICLE_BATTERY_WARNING_CRITICAL handled as ARMING_STATE_ARMED_ERROR / ARMING_STATE_STANDBY_ERROR */
} else {