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Merge branch 'master' of github.com:PX4/Firmware into fixedwing_outdoor

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This commit is contained in:
Lorenz Meier 2012-12-09 19:19:59 +01:00
commit 26faab64e5
2 changed files with 29 additions and 10 deletions
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6
apps/drivers/hmc5883/hmc5883.cpp
View File

@ -1080,10 +1080,10 @@ int HMC5883::check_offset()
int HMC5883::check_calibration()
{
bool offset_valid = !(check_offset() == OK);
bool scale_valid = !(check_scale() == OK);
bool offset_valid = (check_offset() == OK);
bool scale_valid = (check_scale() == OK);
if (_calibrated != (offset_valid && scale_valid == OK)) {
if (_calibrated != (offset_valid && scale_valid)) {
warnx("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ",
(offset_valid) ? "" : "offset invalid");
_calibrated = (offset_valid && scale_valid);

33
apps/px4io/safety.c
View File

@ -60,10 +60,19 @@ static struct hrt_call failsafe_call;
*/
static unsigned counter = 0;
/*
* Define the various LED flash sequences for each system state.
*/
#define LED_PATTERN_SAFE 0xffff // always on
#define LED_PATTERN_FMU_ARMED 0x4444 // slow blinking
#define LED_PATTERN_IO_ARMED 0x5555 // fast blinking
#define LED_PATTERN_IO_FMU_ARMED 0x5050 // long off then double blink
static unsigned blink_counter = 0;
#define ARM_COUNTER_THRESHOLD 10
#define DISARM_COUNTER_THRESHOLD 2
static bool safety_led_state;
static bool safety_button_pressed;
static void safety_check_button(void *arg);
@ -120,15 +129,25 @@ safety_check_button(void *arg)
counter = 0;
}
/* when armed, toggle the LED; when safe, leave it on */
/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
uint16_t pattern = LED_PATTERN_SAFE;
if (system_state.armed) {
safety_led_state = !safety_led_state;
} else {
safety_led_state = true;
if (system_state.arm_ok) {
pattern = LED_PATTERN_IO_FMU_ARMED;
} else {
pattern = LED_PATTERN_IO_ARMED;
}
} else if (system_state.arm_ok) {
pattern = LED_PATTERN_FMU_ARMED;
}
LED_SAFETY(safety_led_state);
}
/* Turn the LED on if we have a 1 at the current bit position */
LED_SAFETY(pattern & (1 << blink_counter++));
if (blink_counter > 15) {
blink_counter = 0;
}
}
static void
heartbeat_blink(void *arg)