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Merge pull request #653 from PX4/fs_beep

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Beeps and LED blinks cleanup, beep on RC failsafe added
This commit is contained in:
julianoes
2014-03-03 10:11:33 +01:00
parent 8b99062e66 0ead560059
commit 72ae4a6dc7
5 changed files with 86 additions and 91 deletions
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src/modules/commander/commander.cpp
+27 -41
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@@ -610,7 +610,6 @@ int commander_thread_main(int argc, char *argv[])
/* not yet initialized */
commander_initialized = false;
bool battery_tune_played = false;
bool arm_tune_played = false;
/* set parameters */
@@ -1024,14 +1023,12 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY");
status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
status_changed = true;
battery_tune_played = false;
} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
/* critical battery voltage, this is rather an emergency, change state machine */
critical_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY");
status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
battery_tune_played = false;
if (armed.armed) {
arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed);
@@ -1105,7 +1102,7 @@ int commander_thread_main(int argc, char *argv[])
/* mark home position as set */
status.condition_home_position_valid = true;
tune_positive();
tune_positive(true);
}
}
@@ -1200,8 +1197,9 @@ int commander_thread_main(int argc, char *argv[])
/* evaluate the main state machine according to mode switches */
res = set_main_state_rc(&status);
/* play tune on mode change only if armed, blink LED always */
if (res == TRANSITION_CHANGED) {
tune_positive();
tune_positive(armed.armed);
} else if (res == TRANSITION_DENIED) {
/* DENIED here indicates bug in the commander */
@@ -1257,7 +1255,7 @@ int commander_thread_main(int argc, char *argv[])
/* flight termination in manual mode if assisted switch is on easy position */
if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
tune_positive();
tune_positive(armed.armed);
}
}
@@ -1312,26 +1310,23 @@ int commander_thread_main(int argc, char *argv[])
/* play arming and battery warning tunes */
if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available && safety.safety_off))) {
/* play tune when armed */
if (tune_arm() == OK)
arm_tune_played = true;
} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
/* play tune on battery warning */
if (tune_low_bat() == OK)
battery_tune_played = true;
set_tune(TONE_ARMING_WARNING_TUNE);
arm_tune_played = true;
} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) {
/* play tune on battery critical */
if (tune_critical_bat() == OK)
battery_tune_played = true;
set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
} else if (battery_tune_played) {
tune_stop();
battery_tune_played = false;
} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW || status.failsafe_state != FAILSAFE_STATE_NORMAL) {
/* play tune on battery warning or failsafe */
set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
} else {
set_tune(TONE_STOP_TUNE);
}
/* reset arm_tune_played when disarmed */
if (status.arming_state != ARMING_STATE_ARMED || (safety.safety_switch_available && !safety.safety_off)) {
if (!armed.armed || (safety.safety_switch_available && !safety.safety_off)) {
arm_tune_played = false;
}
@@ -1426,11 +1421,8 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
if (set_normal_color) {
/* set color */
if (status->battery_warning != VEHICLE_BATTERY_WARNING_NONE) {
if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
rgbled_set_color(RGBLED_COLOR_AMBER);
}
if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status->failsafe_state != FAILSAFE_STATE_NORMAL) {
rgbled_set_color(RGBLED_COLOR_AMBER);
/* VEHICLE_BATTERY_WARNING_CRITICAL handled as ARMING_STATE_ARMED_ERROR / ARMING_STATE_STANDBY_ERROR */
} else {
@@ -1697,15 +1689,9 @@ print_reject_mode(struct vehicle_status_s *status, const char *msg)
sprintf(s, "#audio: REJECT %s", msg);
mavlink_log_critical(mavlink_fd, s);
// only buzz if armed, because else we're driving people nuts indoors
// they really need to look at the leds as well.
if (status->arming_state == ARMING_STATE_ARMED) {
tune_negative();
} else {
// Always show the led indication
led_negative();
}
/* only buzz if armed, because else we're driving people nuts indoors
they really need to look at the leds as well. */
tune_negative(armed.armed);
}
}
@@ -1719,7 +1705,7 @@ print_reject_arm(const char *msg)
char s[80];
sprintf(s, "#audio: %s", msg);
mavlink_log_critical(mavlink_fd, s);
tune_negative();
tune_negative(true);
}
}
@@ -1727,27 +1713,27 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
{
switch (result) {
case VEHICLE_CMD_RESULT_ACCEPTED:
tune_positive();
tune_positive(true);
break;
case VEHICLE_CMD_RESULT_DENIED:
mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd.command);
tune_negative();
tune_negative(true);
break;
case VEHICLE_CMD_RESULT_FAILED:
mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd.command);
tune_negative();
tune_negative(true);
break;
case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd.command);
tune_negative();
tune_negative(true);
break;
case VEHICLE_CMD_RESULT_UNSUPPORTED:
mavlink_log_critical(mavlink_fd, "#audio: command unsupported: %u", cmd.command);
tune_negative();
tune_negative(true);
break;
default:
@@ -1887,9 +1873,9 @@ void *commander_low_prio_loop(void *arg)
}
if (calib_ret == OK)
tune_positive();
tune_positive(true);
else
tune_negative();
tune_negative(true);
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);