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Dropped superseded safety topic, added warning tones before arming

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Julian Oes
2013-06-25 13:15:38 +02:00
parent 2096da2d4d
commit a6ba7e4485
5 changed files with 53 additions and 91 deletions
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src/modules/commander/commander.c
+43 -21
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Thomas Gubler <thomasgubler@student.ethz.ch>
@@ -79,7 +79,6 @@
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/safety.h>
#include <mavlink/mavlink_log.h>
#include <drivers/drv_led.h>
@@ -1159,6 +1158,9 @@ int commander_thread_main(int argc, char *argv[])
commander_initialized = false;
bool home_position_set = false;
bool battery_tune_played = false;
bool arm_tune_played = false;
/* set parameters */
failsafe_lowlevel_timeout_ms = 0;
param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms);
@@ -1248,6 +1250,9 @@ int commander_thread_main(int argc, char *argv[])
safety_pub = orb_advertise(ORB_ID(actuator_safety), &safety);
/* but also subscribe to it */
int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode);
/* home position */
@@ -1477,6 +1482,13 @@ int commander_thread_main(int argc, char *argv[])
}
}
/* update safety topic */
orb_check(safety_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
}
/* update global position estimate */
orb_check(global_position_sub, &new_data);
@@ -1573,25 +1585,6 @@ int commander_thread_main(int argc, char *argv[])
last_idle_time = system_load.tasks[0].total_runtime;
}
// // XXX Export patterns and threshold to parameters
/* Trigger audio event for low battery */
if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 0)) {
/* For less than 10%, start be really annoying at 5 Hz */
ioctl(buzzer, TONE_SET_ALARM, 0);
ioctl(buzzer, TONE_SET_ALARM, 3);
} else if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 2)) {
ioctl(buzzer, TONE_SET_ALARM, 0);
} else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) {
/* For less than 20%, start be slightly annoying at 1 Hz */
ioctl(buzzer, TONE_SET_ALARM, 0);
tune_positive();
} else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) {
ioctl(buzzer, TONE_SET_ALARM, 0);
}
/* Check battery voltage */
/* write to sys_status */
if (battery_voltage_valid) {
@@ -2194,6 +2187,8 @@ int commander_thread_main(int argc, char *argv[])
}
current_status.counter++;
current_status.timestamp = hrt_absolute_time();
@@ -2219,6 +2214,33 @@ int commander_thread_main(int argc, char *argv[])
/* Store old modes to detect and act on state transitions */
voltage_previous = current_status.voltage_battery;
/* play tone according to evaluation result */
/* check if we recently armed */
if (!arm_tune_played && safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available))) {
ioctl(buzzer, TONE_SET_ALARM, 12);
arm_tune_played = true;
// // XXX Export patterns and threshold to parameters
/* Trigger audio event for low battery */
} else if (bat_remain < 0.1f && battery_voltage_valid) {
ioctl(buzzer, TONE_SET_ALARM, 14);
battery_tune_played = true;
} else if (bat_remain < 0.2f && battery_voltage_valid) {
ioctl(buzzer, TONE_SET_ALARM, 13);
battery_tune_played = true;
} else if(battery_tune_played) {
ioctl(buzzer, TONE_SET_ALARM, 0);
battery_tune_played = false;
}
/* reset arm_tune_played when disarmed */
if (!(safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) {
arm_tune_played = false;
}
/* XXX use this voltage_previous */
fflush(stdout);
counter++;