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Fixed led patterns to be up to the latest specs

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This commit is contained in:
Lorenz Meier
2013-05-12 20:05:20 +02:00
parent 0c43da3b64
commit 79f9b61aff
5 changed files with 41 additions and 26 deletions
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src/modules/commander/state_machine_helper.c
+5
View File
@@ -249,6 +249,11 @@ void publish_armed_status(const struct vehicle_status_s *current_status)
{
struct actuator_armed_s armed;
armed.armed = current_status->flag_system_armed;
/* XXX allow arming by external components on multicopters only if not yet armed by RC */
/* XXX allow arming only if core sensors are ok */
armed.ready_to_arm = true;
/* lock down actuators if required, only in HIL */
armed.lockdown = (current_status->flag_hil_enabled) ? true : false;
orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
src/modules/px4iofirmware/protocol.h
+2 -1
View File
@@ -145,7 +145,8 @@
#define PX4IO_P_SETUP_FEATURES 0
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */
#define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */
#define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */
#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
src/modules/px4iofirmware/safety.c
+13 -13
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -32,7 +32,8 @@
****************************************************************************/
/**
* @file Safety button logic.
* @file safety.c
* Safety button logic.
*/
#include <nuttx/config.h>
@@ -56,10 +57,10 @@ static unsigned counter = 0;
/*
* Define the various LED flash sequences for each system state.
*/
#define LED_PATTERN_SAFE 0x000f /**< always on */
#define LED_PATTERN_FMU_ARMED 0x5555 /**< slow blinking */
#define LED_PATTERN_IO_ARMED 0x5555 /**< fast blinking */
#define LED_PATTERN_IO_FMU_ARMED 0xffff /**< long off then double blink */
#define LED_PATTERN_FMU_OK_TO_ARM 0x0003 /**< slow blinking */
#define LED_PATTERN_FMU_REFUSE_TO_ARM 0x5555 /**< fast blinking */
#define LED_PATTERN_IO_ARMED 0x5050 /**< long off, then double blink */
#define LED_PATTERN_IO_FMU_ARMED 0xffff /**< constantly on */
static unsigned blink_counter = 0;
@@ -108,7 +109,8 @@ safety_check_button(void *arg)
* state machine, keep ARM_COUNTER_THRESHOLD the same
* length in all cases of the if/else struct below.
*/
if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) {
if (counter < ARM_COUNTER_THRESHOLD) {
counter++;
@@ -119,8 +121,6 @@ safety_check_button(void *arg)
counter++;
}
/* Disarm quickly */
} else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
if (counter < ARM_COUNTER_THRESHOLD) {
@@ -137,18 +137,18 @@ safety_check_button(void *arg)
}
/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
uint16_t pattern = LED_PATTERN_SAFE;
uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM;
if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) {
if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) {
pattern = LED_PATTERN_IO_FMU_ARMED;
} else {
pattern = LED_PATTERN_IO_ARMED;
}
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
pattern = LED_PATTERN_FMU_ARMED;
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) {
pattern = LED_PATTERN_FMU_OK_TO_ARM;
}
src/modules/uORB/topics/actuator_controls.h
+1
View File
@@ -69,6 +69,7 @@ ORB_DECLARE(actuator_controls_3);
/** global 'actuator output is live' control. */
struct actuator_armed_s {
bool armed; /**< Set to true if system is armed */
bool ready_to_arm; /**< Set to true if system is ready to be armed */
bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
};