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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/mavlink/mavlink_receiver.cpp
-1
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@@ -44,7 +44,6 @@
#include <commander/px4_custom_mode.h>
#include <conversion/rotation.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_tone_alarm.h>
#include <ecl/geo/geo.h>
#include <systemlib/px4_macros.h>
src/modules/mavlink/tune_publisher.cpp
+3 -7
View File
@@ -72,17 +72,13 @@ void TunePublisher::publish_next_tune(const hrt_abstime now)
unsigned silence;
uint8_t volume;
if (_tunes.get_next_note(frequency, duration, silence, volume) > 0) {
tune_control_s tune_control {};
tune_control.tune_id = 0;
tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
tune_control.tune_id = 0;
if (_tunes.get_next_note(frequency, duration, silence, volume) == Tunes::Status::Continue) {
tune_control_s tune_control{};
tune_control.frequency = static_cast<uint16_t>(frequency);
tune_control.duration = static_cast<uint32_t>(duration);
tune_control.silence = static_cast<uint32_t>(silence);
tune_control.volume = static_cast<uint8_t>(volume);
tune_control.timestamp = now;
tune_control.timestamp = hrt_absolute_time();
_tune_control_pub.publish(tune_control);
_next_publish_time = now + duration + silence;