From ab0f761e9ff4aad0774749cd932864ba8155acef Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Tue, 26 Jan 2021 13:43:34 -0800 Subject: [PATCH] uavcan:Beep Repeated tunes are OK --- src/drivers/uavcan/beep.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/drivers/uavcan/beep.cpp b/src/drivers/uavcan/beep.cpp index a60920a86d..366aad61a6 100644 --- a/src/drivers/uavcan/beep.cpp +++ b/src/drivers/uavcan/beep.cpp @@ -64,7 +64,8 @@ void UavcanBeep::periodic_update(const uavcan::TimerEvent &) _tune_control_sub.copy(&_tune); if (_tune.timestamp > 0) { - _play_tone = (_tunes.set_control(_tune) == Tunes::ControlResult::Success); + Tunes::ControlResult result = _tunes.set_control(_tune); + _play_tone = (result == Tunes::ControlResult::Success) || (result == Tunes::ControlResult::AlreadyPlaying); } }