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Fixed SITL build

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The SITL build seems to run correctly now

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-11-18 13:02:39 -08:00
parent b8c40ecb6b
commit af155b8e59
4 changed files with 38 additions and 32 deletions
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src/modules/commander/commander_helper.cpp
+7 -6
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@@ -96,7 +96,7 @@ bool is_vtol(const struct vehicle_status_s * current_status) {
current_status->system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_OCTOROTOR);
}
static int buzzer = -1;
static DevHandle h_buzzer;
static hrt_abstime blink_msg_end = 0; // end time for currently blinking LED message, 0 if no blink message
static hrt_abstime tune_end = 0; // end time of currently played tune, 0 for repeating tunes or silence
static int tune_current = TONE_STOP_TUNE; // currently playing tune, can be interrupted after tune_end
@@ -136,9 +136,10 @@ int buzzer_init()
tune_durations[TONE_NOTIFY_NEUTRAL_TUNE] = 500000;
tune_durations[TONE_ARMING_WARNING_TUNE] = 3000000;
buzzer = px4_open(TONEALARM0_DEVICE_PATH, O_WRONLY);
DevHandle h_buzzer;
DevMgr::getHandle(TONEALARM0_DEVICE_PATH, h_buzzer);
if (buzzer < 0) {
if (!h_buzzer.isValid()) {
PX4_WARN("Buzzer: px4_open fail\n");
return ERROR;
}
@@ -148,12 +149,12 @@ int buzzer_init()
void buzzer_deinit()
{
px4_close(buzzer);
DevMgr::releaseHandle(h_buzzer);
}
void set_tune_override(int tune)
{
px4_ioctl(buzzer, TONE_SET_ALARM, tune);
h_buzzer.ioctl(TONE_SET_ALARM, tune);
}
void set_tune(int tune)
@@ -164,7 +165,7 @@ void set_tune(int tune)
if (tune_end == 0 || new_tune_duration != 0 || hrt_absolute_time() > tune_end) {
/* allow interrupting current non-repeating tune by the same tune */
if (tune != tune_current || new_tune_duration != 0) {
px4_ioctl(buzzer, TONE_SET_ALARM, tune);
h_buzzer.ioctl(TONE_SET_ALARM, tune);
}
tune_current = tune;