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px4iofirmware: blink blue LED more rapidly when override is active

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this makes it easier for a user to test that override is working
correctly in pre-flight checks. Otherwise override is hard to
distinguish from normal manual mode
This commit is contained in:
Andrew Tridgell
2015-06-21 16:29:07 +10:00
committed by Lorenz Meier
parent d8aee84625
commit 943e6ffbc9
1 changed files with 13 additions and 1 deletions
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src/modules/px4iofirmware/px4io.c
+13 -1
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@@ -363,7 +363,19 @@ user_start(int argc, char *argv[])
controls_tick();
perf_end(controls_perf);
if ((hrt_absolute_time() - last_heartbeat_time) > 250 * 1000) {
/*
blink blue LED at 4Hz in normal operation. When in
override blink 4x faster so the user can clearly see
that override is happening. This helps when
pre-flight testing the override system
*/
uint32_t heartbeat_period_us = 250 * 1000UL;
if (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) {
heartbeat_period_us /= 4;
}
if ((hrt_absolute_time() - last_heartbeat_time) > heartbeat_period_us) {
last_heartbeat_time = hrt_absolute_time();
heartbeat_blink();
}