From 155089c8000523a939727dc476c996d25a781acb Mon Sep 17 00:00:00 2001 From: Alessandro Simovic Date: Tue, 3 Jul 2018 15:29:00 +0200 Subject: [PATCH] Addressed review comments from #9769 --- src/modules/events/events_params.c | 9 ++++----- src/modules/events/rc_loss_alarm.cpp | 8 ++++---- src/modules/events/rc_loss_alarm.h | 3 --- 3 files changed, 8 insertions(+), 12 deletions(-) diff --git a/src/modules/events/events_params.c b/src/modules/events/events_params.c index b3d6a5d391..c2342cb9c3 100644 --- a/src/modules/events/events_params.c +++ b/src/modules/events/events_params.c @@ -52,8 +52,6 @@ * @group Events * @boolean * @reboot_required true - * @value 0 OFF - * @value 1 ON */ PARAM_DEFINE_INT32(EV_TSK_STAT_DIS, 0); @@ -61,12 +59,13 @@ PARAM_DEFINE_INT32(EV_TSK_STAT_DIS, 0); * RC Loss Alarm * * Enable/disable event task for RC Loss. When enabled, an alarm tune will be - * played via buzzer or ESCs, if supported. + * played via buzzer or ESCs, if supported. The alarm will sound after a disarm, + * if the vehicle was previously armed and only if the vehicle had RC signal at + * some point. Particularly useful for locating crashes drones without a GPS + * sensor. * * @group Events * @boolean * @reboot_required true - * @value 0 OFF - * @value 1 ON */ PARAM_DEFINE_INT32(EV_TSK_RC_LOSS, 0); diff --git a/src/modules/events/rc_loss_alarm.cpp b/src/modules/events/rc_loss_alarm.cpp index 08408bf544..ccab1a26f2 100644 --- a/src/modules/events/rc_loss_alarm.cpp +++ b/src/modules/events/rc_loss_alarm.cpp @@ -94,15 +94,15 @@ void RC_Loss_Alarm::process() void RC_Loss_Alarm::play_tune() { struct tune_control_s tune_control = {}; + tune_control.tune_id = static_cast(TuneID::ERROR_TUNE); + tune_control.strength = tune_control_s::STRENGTH_MAX; + tune_control.tune_override = 1; + tune_control.timestamp = hrt_absolute_time(); if (_tune_control_pub == nullptr) { _tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control); } else { - tune_control.tune_id = static_cast(TuneID::ERROR_TUNE); - tune_control.strength = tune_control_s::STRENGTH_MAX; - tune_control.tune_override = 1; - tune_control.timestamp = hrt_absolute_time(); orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control); } } diff --git a/src/modules/events/rc_loss_alarm.h b/src/modules/events/rc_loss_alarm.h index f28c7d93f0..5b2985ae20 100644 --- a/src/modules/events/rc_loss_alarm.h +++ b/src/modules/events/rc_loss_alarm.h @@ -68,9 +68,6 @@ private: /** Publish tune control to sound alarm */ void play_tune(); - /** Publish tune control to stop any ongoing tune, including alarm */ - void stop_tune(); - int _vehicle_status_sub = -1; struct vehicle_status_s _vehicle_status = {}; bool _was_armed = false;