From 4ccc60e2b0df2dae03420d73448b0d36e961b138 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Wed, 19 May 2021 16:02:42 +0200
Subject: [PATCH] commander: neutral beep on mission with warning

When a mission is uploaded we should beep consistenly:
- valid -> positive
- warn -> neutral
- invalid -> negative

Before this, it was:
- valid -> positive
- warn -> negative
- invalid -> negative
---
 src/modules/commander/Commander.cpp        |  2 +-
 src/modules/commander/commander_helper.cpp | 10 ++++++++++
 src/modules/commander/commander_helper.h   |  1 +
 3 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 69b1a0b62b..c19caa1af9 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2089,7 +2089,7 @@ Commander::run()
 
 					} else if (mission_result.warning) {
 						/* the mission has a warning */
-						tune_mission_fail(true);
+						tune_mission_warn(true);
 
 					} else {
 						/* the mission is valid */
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index a16e4e23f6..d7744c7104 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -206,6 +206,16 @@ void tune_mission_ok(bool use_buzzer)
 	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
 	rgbled_set_color_and_mode(led_control_s::COLOR_GREEN, led_control_s::MODE_BLINK_FAST);
 
+	if (use_buzzer) {
+		set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);
+	}
+}
+
+void tune_mission_warn(bool use_buzzer)
+{
+	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
+	rgbled_set_color_and_mode(led_control_s::COLOR_YELLOW, led_control_s::MODE_BLINK_FAST);
+
 	if (use_buzzer) {
 		set_tune(tune_control_s::TUNE_ID_NOTIFY_NEUTRAL);
 	}
diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h
index 73524d9464..8ff0922b66 100644
--- a/src/modules/commander/commander_helper.h
+++ b/src/modules/commander/commander_helper.h
@@ -64,6 +64,7 @@ void set_tune_override(int tune);
 void set_tune(int tune);
 void tune_home_set(bool use_buzzer);
 void tune_mission_ok(bool use_buzzer);
+void tune_mission_warn(bool use_buzzer);
 void tune_mission_fail(bool use_buzzer);
 void tune_positive(bool use_buzzer);
 void tune_neutral(bool use_buzzer);