mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 07:07:35 +08:00
Alessandro Simovic
112 lines
3.3 KiB
C++
112 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file rc_loss_alarm.cpp
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*
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*/
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#include "rc_loss_alarm.h"
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#include <px4_defines.h>
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#include <drivers/drv_hrt.h>
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#include <stdint.h>
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#include <tunes/tune_definition.h>
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#include <uORB/topics/tune_control.h>
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namespace events
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{
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namespace rc_loss
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{
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RC_Loss_Alarm::RC_Loss_Alarm(const events::SubscriberHandler &subscriber_handler)
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: _subscriber_handler(subscriber_handler)
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{
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}
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bool RC_Loss_Alarm::check_for_updates()
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{
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if (_subscriber_handler.vehicle_status_updated()) {
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orb_copy(ORB_ID(vehicle_status), _subscriber_handler.get_vehicle_status_sub(), &_vehicle_status);
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return true;
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}
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return false;
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}
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void RC_Loss_Alarm::process()
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{
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if (!check_for_updates()) {
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return;
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}
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if (!_was_armed &&
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_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
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_was_armed = true; // Once true, impossible to go back to false
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}
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if (!_had_rc && !_vehicle_status.rc_signal_lost) {
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_had_rc = true;
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}
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if (_was_armed && _had_rc && _vehicle_status.rc_signal_lost &&
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_vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
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play_tune();
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}
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}
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void RC_Loss_Alarm::play_tune()
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{
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struct tune_control_s tune_control = {};
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tune_control.tune_id = static_cast<int>(TuneID::ERROR_TUNE);
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tune_control.strength = tune_control_s::STRENGTH_MAX;
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tune_control.tune_override = 1;
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tune_control.timestamp = hrt_absolute_time();
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if (_tune_control_pub == nullptr) {
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_tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
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} else {
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orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
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}
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}
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} /* namespace rc_loss */
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} /* namespace events */
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