2013-09-15 05:24:00 -03:00
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/*
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ToneAlarm PX4 driver
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*/
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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2015-08-11 03:28:44 -03:00
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#include <AP_HAL/AP_HAL.h>
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2013-09-15 05:24:00 -03:00
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2016-07-05 12:25:23 -03:00
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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2013-09-15 05:24:00 -03:00
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#include "ToneAlarm_PX4.h"
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#include "AP_Notify.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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2014-10-23 09:04:34 -03:00
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#include <string.h>
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2013-09-15 05:24:00 -03:00
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#include <drivers/drv_tone_alarm.h>
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#include <stdio.h>
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#include <errno.h>
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extern const AP_HAL::HAL& hal;
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2014-10-23 09:04:34 -03:00
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const ToneAlarm_PX4::Tone ToneAlarm_PX4::_tones[] {
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#define AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK 0
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{ "MFT200L4<<<B#A#2", false },
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#define AP_NOTIFY_PX4_TONE_LOUD_NEG_FEEDBACK 1
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{ "MFT100L4>B#A#2P8B#A#2", false },
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#define AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK 2
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{ "MFT200L4<B#", false },
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#define AP_NOTIFY_PX4_TONE_LOUD_NEU_FEEDBACK 3
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{ "MFT100L4>B#", false },
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#define AP_NOTIFY_PX4_TONE_QUIET_POS_FEEDBACK 4
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{ "MFT200L4<A#B#", false },
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#define AP_NOTIFY_PX4_TONE_LOUD_POS_FEEDBACK 5
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{ "MFT100L4>A#B#", false },
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#define AP_NOTIFY_PX4_TONE_LOUD_READY_OR_FINISHED 6
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{ "MFT100L4>G#6A#6B#4", false },
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#define AP_NOTIFY_PX4_TONE_QUIET_READY_OR_FINISHED 7
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{ "MFT200L4<G#6A#6B#4", false },
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#define AP_NOTIFY_PX4_TONE_LOUD_ATTENTION_NEEDED 8
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2017-01-31 01:04:03 -04:00
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{ "MFT100L4>A#A#A#A#", false },
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2014-10-23 09:04:34 -03:00
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#define AP_NOTIFY_PX4_TONE_QUIET_ARMING_WARNING 9
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{ "MNT75L1O2G", false },
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#define AP_NOTIFY_PX4_TONE_LOUD_WP_COMPLETE 10
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{ "MFT200L8G>C3", false },
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#define AP_NOTIFY_PX4_TONE_LOUD_LAND_WARNING_CTS 11
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{ "MBT200L2A-G-A-G-A-G-", true },
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2015-04-13 05:29:57 -03:00
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#define AP_NOTIFY_PX4_TONE_LOUD_VEHICLE_LOST_CTS 12
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2017-01-31 01:04:03 -04:00
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{ "MBT200>A#1", true },
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2014-10-23 09:04:34 -03:00
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#define AP_NOTIFY_PX4_TONE_LOUD_BATTERY_ALERT_CTS 13
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2017-01-31 01:04:03 -04:00
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{ "MBNT255>A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8", true },
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2015-03-09 23:01:29 -03:00
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#define AP_NOTIFY_PX4_TONE_QUIET_COMPASS_CALIBRATING_CTS 14
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{ "MBNT255<C16P2", true },
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2015-12-19 07:19:51 -04:00
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#define AP_NOTIFY_PX4_TONE_WAITING_FOR_THROW 15
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{ "MBNT90L4O2A#O3DFN0N0N0", true},
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2016-05-09 04:24:38 -03:00
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#define AP_NOTIFY_PX4_TONE_LOUD_1 16
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{ "MFT100L8>B", false},
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#define AP_NOTIFY_PX4_TONE_LOUD_2 17
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{ "MFT100L8>BB", false},
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#define AP_NOTIFY_PX4_TONE_LOUD_3 18
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{ "MFT100L8>BBB", false},
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#define AP_NOTIFY_PX4_TONE_LOUD_4 19
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{ "MFT100L8>BBBB", false},
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#define AP_NOTIFY_PX4_TONE_LOUD_5 20
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{ "MFT100L8>BBBBB", false},
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#define AP_NOTIFY_PX4_TONE_LOUD_6 21
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{ "MFT100L8>BBBBBB", false},
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#define AP_NOTIFY_PX4_TONE_LOUD_7 22
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{ "MFT100L8>BBBBBBB", false},
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#define AP_NOTIFY_PX4_TONE_TUNING_START 23
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{ "MFT100L20>C#D#", false},
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#define AP_NOTIFY_PX4_TONE_TUNING_SAVE 24
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{ "MFT100L10DBDB>", false},
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2016-05-27 01:16:25 -03:00
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#define AP_NOTIFY_PX4_TONE_TUNING_ERROR 25
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{ "MFT100L10>BBBBBBBB", false},
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2017-02-07 14:54:57 -04:00
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#define AP_NOTIFY_PX4_TONE_LEAK_DETECTED 26
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{ "MBT255L8>A+AA-", true},
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2017-05-29 09:17:02 -03:00
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#define AP_NOTIFY_PX4_TONE_QUIET_SHUTDOWN 27
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{ "MFMST200L32O3ceP32cdP32ceP32c<c>c<cccP8L32>c>c<P32<c<c", false },
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2014-10-23 09:04:34 -03:00
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};
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2013-09-15 05:24:00 -03:00
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bool ToneAlarm_PX4::init()
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{
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// open the tone alarm device
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2015-02-13 04:21:24 -04:00
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_tonealarm_fd = open(TONEALARM0_DEVICE_PATH, O_WRONLY);
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2013-09-15 05:24:00 -03:00
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if (_tonealarm_fd == -1) {
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2015-02-13 04:21:24 -04:00
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hal.console->printf("ToneAlarm_PX4: Unable to open " TONEALARM0_DEVICE_PATH);
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2013-09-15 05:24:00 -03:00
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return false;
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}
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2013-09-17 21:55:42 -03:00
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2014-12-14 23:17:09 -04:00
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// set initial boot states. This prevents us issuing a arming
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2013-09-17 21:55:42 -03:00
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// warning in plane and rover on every boot
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flags.armed = AP_Notify::flags.armed;
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flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
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2014-10-23 09:04:34 -03:00
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flags.pre_arm_check = 1;
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_cont_tone_playing = -1;
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2013-09-15 05:24:00 -03:00
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return true;
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}
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// play_tune - play one of the pre-defined tunes
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2014-10-23 09:04:34 -03:00
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void ToneAlarm_PX4::play_tone(const uint8_t tone_index)
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2013-09-15 05:24:00 -03:00
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{
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2015-11-19 23:13:24 -04:00
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uint32_t tnow_ms = AP_HAL::millis();
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2014-10-23 09:04:34 -03:00
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const Tone &tone_requested = _tones[tone_index];
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if(tone_requested.continuous) {
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_cont_tone_playing = tone_index;
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}
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_tone_playing = tone_index;
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_tone_beginning_ms = tnow_ms;
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play_string(tone_requested.str);
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}
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void ToneAlarm_PX4::play_string(const char *str) {
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write(_tonealarm_fd, str, strlen(str) + 1);
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}
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void ToneAlarm_PX4::stop_cont_tone() {
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if(_cont_tone_playing == _tone_playing) {
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2015-04-13 05:31:42 -03:00
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play_string("");
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2014-10-23 09:04:34 -03:00
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_tone_playing = -1;
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}
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_cont_tone_playing = -1;
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2013-09-15 05:24:00 -03:00
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}
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2014-10-23 09:04:34 -03:00
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void ToneAlarm_PX4::check_cont_tone() {
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2015-11-19 23:13:24 -04:00
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uint32_t tnow_ms = AP_HAL::millis();
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2014-10-23 09:04:34 -03:00
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// if we are supposed to be playing a continuous tone,
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// and it was interrupted, and the interrupting tone has timed out,
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// resume the continuous tone
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if (_cont_tone_playing != -1 && _tone_playing != _cont_tone_playing && tnow_ms-_tone_beginning_ms > AP_NOTIFY_PX4_MAX_TONE_LENGTH_MS) {
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play_tone(_cont_tone_playing);
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}
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}
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2013-09-15 05:24:00 -03:00
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// update - updates led according to timed_updated. Should be called at 50Hz
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void ToneAlarm_PX4::update()
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{
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// exit immediately if we haven't initialised successfully
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2013-09-17 21:55:42 -03:00
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if (_tonealarm_fd == -1) {
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2013-09-15 05:24:00 -03:00
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return;
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}
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2014-04-03 10:03:12 -03:00
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2016-03-31 15:19:52 -03:00
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// exit if buzzer is not enabled
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if (pNotify->buzzer_enabled() == false) {
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return;
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}
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2014-10-23 09:04:34 -03:00
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check_cont_tone();
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2017-05-29 09:17:02 -03:00
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if (AP_Notify::flags.powering_off) {
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if (!flags.powering_off) {
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play_tone(AP_NOTIFY_PX4_TONE_QUIET_SHUTDOWN);
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}
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flags.powering_off = AP_Notify::flags.powering_off;
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return;
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}
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2014-10-23 09:04:34 -03:00
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2015-03-09 23:01:29 -03:00
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if (AP_Notify::flags.compass_cal_running != flags.compass_cal_running) {
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if(AP_Notify::flags.compass_cal_running) {
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play_tone(AP_NOTIFY_PX4_TONE_QUIET_COMPASS_CALIBRATING_CTS);
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play_tone(AP_NOTIFY_PX4_TONE_QUIET_POS_FEEDBACK);
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} else {
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if(_cont_tone_playing == AP_NOTIFY_PX4_TONE_QUIET_COMPASS_CALIBRATING_CTS) {
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stop_cont_tone();
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}
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}
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}
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flags.compass_cal_running = AP_Notify::flags.compass_cal_running;
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2015-03-11 22:41:01 -03:00
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if (AP_Notify::events.compass_cal_canceled) {
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play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
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return;
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}
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2015-03-09 23:01:29 -03:00
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if (AP_Notify::events.initiated_compass_cal) {
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play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
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return;
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}
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if (AP_Notify::events.compass_cal_saved) {
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play_tone(AP_NOTIFY_PX4_TONE_QUIET_READY_OR_FINISHED);
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return;
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}
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if (AP_Notify::events.compass_cal_failed) {
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play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
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return;
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}
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// don't play other tones if compass cal is running
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if (AP_Notify::flags.compass_cal_running) {
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return;
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}
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2014-10-23 09:04:34 -03:00
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// notify the user when autotune or mission completes
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if (AP_Notify::flags.armed && (AP_Notify::events.autotune_complete || AP_Notify::events.mission_complete)) {
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play_tone(AP_NOTIFY_PX4_TONE_LOUD_READY_OR_FINISHED);
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}
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//notify the user when autotune fails
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if (AP_Notify::flags.armed && (AP_Notify::events.autotune_failed)) {
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play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEG_FEEDBACK);
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}
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// notify the user when a waypoint completes
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if (AP_Notify::events.waypoint_complete) {
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play_tone(AP_NOTIFY_PX4_TONE_LOUD_WP_COMPLETE);
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}
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// notify the user when their mode change was successful
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2014-12-15 00:40:21 -04:00
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if (AP_Notify::events.user_mode_change) {
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2014-10-23 09:04:34 -03:00
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if (AP_Notify::flags.armed) {
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play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEU_FEEDBACK);
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} else {
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play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
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}
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}
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// notify the user when their mode change failed
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2014-12-15 00:40:21 -04:00
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if (AP_Notify::events.user_mode_change_failed) {
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2014-10-23 09:04:34 -03:00
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if (AP_Notify::flags.armed) {
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play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEG_FEEDBACK);
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} else {
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play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
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}
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}
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2014-12-14 23:44:38 -04:00
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// failsafe initiated mode change
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if(AP_Notify::events.failsafe_mode_change) {
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2014-10-23 09:04:34 -03:00
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play_tone(AP_NOTIFY_PX4_TONE_LOUD_ATTENTION_NEEDED);
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}
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// notify the user when arming fails
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2015-02-02 16:57:51 -04:00
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if (AP_Notify::events.arming_failed) {
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play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
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2014-10-23 09:04:34 -03:00
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}
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// notify the user when RC contact is lost
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if (flags.failsafe_radio != AP_Notify::flags.failsafe_radio) {
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flags.failsafe_radio = AP_Notify::flags.failsafe_radio;
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if (flags.failsafe_radio) {
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2014-12-14 23:44:38 -04:00
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// armed case handled by events.failsafe_mode_change
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2014-10-23 09:04:34 -03:00
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if (!AP_Notify::flags.armed) {
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play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
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}
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} else {
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if (AP_Notify::flags.armed) {
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play_tone(AP_NOTIFY_PX4_TONE_LOUD_POS_FEEDBACK);
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} else {
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play_tone(AP_NOTIFY_PX4_TONE_QUIET_POS_FEEDBACK);
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}
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}
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}
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// notify the user when pre_arm checks are passing
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if (flags.pre_arm_check != AP_Notify::flags.pre_arm_check) {
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flags.pre_arm_check = AP_Notify::flags.pre_arm_check;
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if (flags.pre_arm_check) {
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play_tone(AP_NOTIFY_PX4_TONE_QUIET_READY_OR_FINISHED);
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2014-03-31 05:55:14 -03:00
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}
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}
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2013-09-15 05:24:00 -03:00
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// check if arming status has changed
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|
|
if (flags.armed != AP_Notify::flags.armed) {
|
|
|
|
flags.armed = AP_Notify::flags.armed;
|
|
|
|
if (flags.armed) {
|
|
|
|
// arming tune
|
2014-10-23 09:04:34 -03:00
|
|
|
play_tone(AP_NOTIFY_PX4_TONE_QUIET_ARMING_WARNING);
|
2013-09-15 05:24:00 -03:00
|
|
|
}else{
|
|
|
|
// disarming tune
|
2014-10-23 09:04:34 -03:00
|
|
|
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
|
2017-02-07 14:54:57 -04:00
|
|
|
if (!flags.leak_detected) {
|
|
|
|
stop_cont_tone();
|
|
|
|
}
|
2013-09-15 05:24:00 -03:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// check if battery status has changed
|
|
|
|
if (flags.failsafe_battery != AP_Notify::flags.failsafe_battery) {
|
|
|
|
flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
|
|
|
|
if (flags.failsafe_battery) {
|
2014-10-23 09:04:34 -03:00
|
|
|
// battery warning tune
|
|
|
|
play_tone(AP_NOTIFY_PX4_TONE_LOUD_BATTERY_ALERT_CTS);
|
2014-07-28 08:41:30 -03:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2014-04-03 10:03:12 -03:00
|
|
|
// check parachute release
|
|
|
|
if (flags.parachute_release != AP_Notify::flags.parachute_release) {
|
|
|
|
flags.parachute_release = AP_Notify::flags.parachute_release;
|
|
|
|
if (flags.parachute_release) {
|
|
|
|
// parachute release warning tune
|
2014-10-23 09:04:34 -03:00
|
|
|
play_tone(AP_NOTIFY_PX4_TONE_LOUD_ATTENTION_NEEDED);
|
2014-07-21 07:12:53 -03:00
|
|
|
}
|
|
|
|
}
|
2015-04-11 17:20:02 -03:00
|
|
|
|
2015-04-13 05:29:57 -03:00
|
|
|
// lost vehicle tone
|
|
|
|
if (flags.vehicle_lost != AP_Notify::flags.vehicle_lost) {
|
|
|
|
flags.vehicle_lost = AP_Notify::flags.vehicle_lost;
|
|
|
|
if (flags.vehicle_lost) {
|
|
|
|
play_tone(AP_NOTIFY_PX4_TONE_LOUD_VEHICLE_LOST_CTS);
|
|
|
|
} else {
|
2015-04-11 17:20:02 -03:00
|
|
|
stop_cont_tone();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2015-12-19 07:19:51 -04:00
|
|
|
// waiting to be thrown vehicle tone
|
|
|
|
if (flags.waiting_for_throw != AP_Notify::flags.waiting_for_throw) {
|
|
|
|
flags.waiting_for_throw = AP_Notify::flags.waiting_for_throw;
|
|
|
|
if (flags.waiting_for_throw) {
|
|
|
|
play_tone(AP_NOTIFY_PX4_TONE_WAITING_FOR_THROW);
|
2017-02-07 14:54:57 -04:00
|
|
|
} else {
|
|
|
|
stop_cont_tone();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
if (flags.leak_detected != AP_Notify::flags.leak_detected) {
|
|
|
|
flags.leak_detected = AP_Notify::flags.leak_detected;
|
|
|
|
if (flags.leak_detected) {
|
|
|
|
play_tone(AP_NOTIFY_PX4_TONE_LEAK_DETECTED);
|
2015-12-19 07:19:51 -04:00
|
|
|
} else {
|
|
|
|
stop_cont_tone();
|
|
|
|
}
|
|
|
|
}
|
2016-05-06 04:06:11 -03:00
|
|
|
|
|
|
|
if (AP_Notify::events.tune_started) {
|
2016-05-09 04:24:38 -03:00
|
|
|
play_tone(AP_NOTIFY_PX4_TONE_TUNING_START);
|
2016-05-06 04:06:11 -03:00
|
|
|
AP_Notify::events.tune_started = 0;
|
|
|
|
}
|
|
|
|
if (AP_Notify::events.tune_next) {
|
2016-05-09 04:24:38 -03:00
|
|
|
// signify which parameter in the set is starting
|
|
|
|
play_tone(AP_NOTIFY_PX4_TONE_LOUD_1 + (AP_Notify::events.tune_next-1));
|
2016-05-06 04:06:11 -03:00
|
|
|
AP_Notify::events.tune_next = 0;
|
|
|
|
}
|
|
|
|
if (AP_Notify::events.tune_save) {
|
2016-05-09 04:24:38 -03:00
|
|
|
play_tone(AP_NOTIFY_PX4_TONE_TUNING_SAVE);
|
2016-05-06 04:06:11 -03:00
|
|
|
AP_Notify::events.tune_save = 0;
|
|
|
|
}
|
2016-05-27 01:16:25 -03:00
|
|
|
if (AP_Notify::events.tune_error) {
|
|
|
|
play_tone(AP_NOTIFY_PX4_TONE_TUNING_ERROR);
|
|
|
|
AP_Notify::events.tune_error = 0;
|
|
|
|
}
|
2013-09-15 05:24:00 -03:00
|
|
|
}
|
|
|
|
|
2016-07-22 00:37:25 -03:00
|
|
|
|
|
|
|
/*
|
|
|
|
handle a PLAY_TUNE message
|
|
|
|
*/
|
|
|
|
void ToneAlarm_PX4::handle_play_tune(mavlink_message_t *msg)
|
|
|
|
{
|
|
|
|
// decode mavlink message
|
|
|
|
mavlink_play_tune_t packet;
|
|
|
|
|
|
|
|
mavlink_msg_play_tune_decode(msg, &packet);
|
|
|
|
|
|
|
|
play_string(packet.tune);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
2013-09-15 05:24:00 -03:00
|
|
|
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
|