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drivers/tone_alarm and tune_control small improvements/cleanup

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- drivers/tone_alarm: move to ModuleBase and purge CDev (/dev/tone_alarm0)
 - drivers/tone_alarm: only run on tune_control publication (or scheduled note) rather than continuously
 - drivers/tone_alarm: use HRT to schedule tone stop (prevents potential disruption)
 - msg/tune_control: add tune_id numbering
 - systemcmds/tune_control: add "error" special case tune_id
 - move all tune_control publication to new uORB::PublicationQueued<>
 - start tone_alarm immediately after board defaults are loaded to fix potential startup issues
 - for SITL (or other boards with no TONE output) print common messages (startup, error, etc)
This commit is contained in:
Daniel Agar
2020-10-05 21:39:26 -04:00
committed by GitHub
parent c7072b61a3
commit 08bf71b73d
39 changed files with 429 additions and 577 deletions
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src/modules/commander/Commander.cpp
+7 -7
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@@ -1593,7 +1593,7 @@ Commander::run()
if (_safety.safety_switch_available && previous_safety_off != _safety.safety_off) {
if (_safety.safety_off) {
set_tune(TONE_NOTIFY_POSITIVE_TUNE);
set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);
} else {
tune_neutral(true);
@@ -2271,7 +2271,7 @@ Commander::run()
armed.force_failsafe = true;
_flight_termination_triggered = true;
mavlink_log_emergency(&mavlink_log_pub, "Critical failure detected: terminate flight");
set_tune_override(TONE_PARACHUTE_RELEASE_TUNE);
set_tune_override(tune_control_s::TUNE_ID_PARACHUTE_RELEASE);
}
}
}
@@ -2439,25 +2439,25 @@ Commander::run()
(_safety.safety_switch_available || (_safety.safety_switch_available && _safety.safety_off))) {
/* play tune when armed */
set_tune(TONE_ARMING_WARNING_TUNE);
set_tune(tune_control_s::TUNE_ID_ARMING_WARNING);
_arm_tune_played = true;
} else if (!status_flags.usb_connected &&
(status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
(_battery_warning == battery_status_s::BATTERY_WARNING_CRITICAL)) {
/* play tune on battery critical */
set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
set_tune(tune_control_s::TUNE_ID_BATTERY_WARNING_FAST);
} else if ((status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
(_battery_warning == battery_status_s::BATTERY_WARNING_LOW)) {
/* play tune on battery warning */
set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
set_tune(tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW);
} else if (status.failsafe) {
tune_failsafe(true);
} else {
set_tune(TONE_STOP_TUNE);
set_tune(tune_control_s::TUNE_ID_STOP);
}
/* reset arm_tune_played when disarmed */
@@ -2477,7 +2477,7 @@ Commander::run()
if (!sensor_fail_tune_played && (!status_flags.condition_system_sensors_initialized
&& status_flags.condition_system_hotplug_timeout)) {
set_tune_override(TONE_GPS_WARNING_TUNE);
set_tune_override(tune_control_s::TUNE_ID_GPS_WARNING);
sensor_fail_tune_played = true;
_status_changed = true;
}