From 36efc8c83e2883cb1a985802482a243d4faeb76f Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sun, 7 Aug 2016 01:55:53 +0300
Subject: [PATCH] Fixed beeping

---
 src/modules/uavcan/uavcan_servers.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/modules/uavcan/uavcan_servers.cpp b/src/modules/uavcan/uavcan_servers.cpp
index afd92e71e4..f7ee5852d3 100644
--- a/src/modules/uavcan/uavcan_servers.cpp
+++ b/src/modules/uavcan/uavcan_servers.cpp
@@ -504,7 +504,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
 						_esc_enumeration_active = command_id;
 						_esc_enumeration_index = 0;
 						_esc_count = 0;
-						beep(_esc_enumeration_active ? 500.0F : 1000.0F, 0.5F);
+						beep(_esc_enumeration_active ? 500.0F : 1000.0F, 0.2F);
 						uavcan::protocol::enumeration::Begin::Request req;
 						// TODO: Incorrect implementation; the parameter name field should be left empty.
 						//       Leaving it as-is to avoid breaking compatibility with non-compliant nodes.
@@ -757,8 +757,8 @@ uint8_t UavcanServers::get_next_dirty_node_id(uint8_t base)
 void UavcanServers::beep(float frequency, float duration)
 {
 	uavcan::equipment::indication::BeepCommand cmd;
-	cmd.frequency = 500.0f;
-	cmd.duration = 0.5f;
+	cmd.frequency = frequency;
+	cmd.duration = duration;
 	(void)_beep_pub.broadcast(cmd);
 }
 
@@ -855,13 +855,13 @@ void UavcanServers::cb_enumeration_save(const uavcan::ServiceCallResult<uavcan::
 {
 	if (!result.isSuccessful()) {
 		warnx("UAVCAN ESC enumeration: save request for node %hhu timed out.", result.getCallID().server_node_id.get());
-		beep(100.0F, 1.0F);
+		beep(100.0F, 0.5F);
 	} else if (!result.getResponse().ok) {
 		warnx("UAVCAN ESC enumeration: save request for node %hhu rejected", result.getCallID().server_node_id.get());
-		beep(100.0F, 1.0F);
+		beep(100.0F, 0.5F);
 	} else {
 		warnx("UAVCAN ESC enumeration: save request for node %hhu completed OK.", result.getCallID().server_node_id.get());
-		beep(2000.0F, 0.25F);
+		beep(2000.0F, 0.2F);
 	}
 
 	warnx("UAVCAN ESC enumeration: completed %hhu of %hhu", _esc_enumeration_index, _esc_count);