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Notify: remove GPS glitch notification

This commit is contained in:
Randy Mackay 2015-03-13 11:02:36 +09:00
parent 4461952534
commit 0dc985a6ab
8 changed files with 3 additions and 80 deletions
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2
libraries/AP_Notify/AP_Notify.h
View File

@ -59,7 +59,6 @@ public:
struct notify_flags_type {
uint32_t initialising : 1; // 1 if initialising and copter should not be moved
uint32_t gps_status : 3; // 0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock, 4 = dgps lock, 5 = rtk lock
uint32_t gps_glitching : 1; // 1 if gps position is not good
uint32_t armed : 1; // 0 = disarmed, 1 = armed
uint32_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
uint32_t pre_arm_gps_check : 1; // 0 = failing pre-arm GPS checks, 1 = passed
@ -67,7 +66,6 @@ public:
uint32_t esc_calibration : 1; // 1 if calibrating escs
uint32_t failsafe_radio : 1; // 1 if radio failsafe
uint32_t failsafe_battery : 1; // 1 if battery failsafe
uint32_t failsafe_gps : 1; // 1 if gps failsafe
uint32_t parachute_release : 1; // 1 if parachute is being released
uint32_t ekf_bad : 1; // 1 if ekf is reporting problems
uint32_t autopilot_mode : 1; // 1 if vehicle is in an autopilot flight mode (only used by OreoLEDs)

43
libraries/AP_Notify/Buzzer.cpp
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@ -94,29 +94,6 @@ void Buzzer::update()
break;
}
return;
case GPS_GLITCH:
// play bethoven's 5th type buzz (three fast, one long)
switch (_pattern_counter) {
case 1:
case 3:
case 5:
case 7:
on(true);
break;
case 2:
case 4:
case 6:
on(false);
break;
case 17:
on(false);
_pattern = NONE;
break;
default:
// do nothing
break;
}
return;
case ARMING_BUZZ:
// record start time
if (_pattern_counter == 1) {
@ -198,26 +175,6 @@ void Buzzer::update()
return;
}
// check gps glitch
if (_flags.gps_glitching != AP_Notify::flags.gps_glitching) {
_flags.gps_glitching = AP_Notify::flags.gps_glitching;
if (_flags.gps_glitching) {
// gps glitch warning buzz
play_pattern(GPS_GLITCH);
}
return;
}
// check gps failsafe
if (_flags.failsafe_gps != AP_Notify::flags.failsafe_gps) {
_flags.failsafe_gps = AP_Notify::flags.failsafe_gps;
if (_flags.failsafe_gps) {
// gps glitch warning buzz
play_pattern(GPS_GLITCH);
}
return;
}
// check ekf bad
if (_flags.ekf_bad != AP_Notify::flags.ekf_bad) {
_flags.ekf_bad = AP_Notify::flags.ekf_bad;

4
libraries/AP_Notify/Buzzer.h
View File

@ -56,7 +56,7 @@ public:
NONE = 0,
SINGLE_BUZZ = 1,
DOUBLE_BUZZ = 2,
GPS_GLITCH = 3,
GPS_GLITCH = 3, // not used
ARMING_BUZZ = 4,
BARO_GLITCH = 5,
EKF_BAD = 6
@ -70,11 +70,9 @@ private:
/// buzzer_flag_type - bitmask of current state and ap_notify states we track
struct buzzer_flag_type {
uint8_t on : 1; // 1 if the buzzer is currently on
uint8_t gps_glitching : 1; // 1 if gps position is not good
uint8_t arming : 1; // 1 if we are beginning the arming process
uint8_t armed : 1; // 0 = disarmed, 1 = armed
uint8_t failsafe_battery : 1; // 1 if battery failsafe has triggered
uint8_t failsafe_gps : 1; // 1 if gps failsafe
uint8_t ekf_bad : 1; // 1 if ekf position has gone bad
} _flags;

5
libraries/AP_Notify/ExternalLED.cpp
View File

@ -195,10 +195,7 @@ void ExternalLED::update(void)
if (AP_Notify::flags.failsafe_battery || AP_Notify::flags.failsafe_radio) {
// radio or battery failsafe indicated by fast flashing
set_pattern(FAST_FLASH);
}else if(AP_Notify::flags.failsafe_gps || AP_Notify::flags.gps_glitching)
// gps failsafe indicated by oscillating
set_pattern(OSCILLATE);
else{
} else {
// otherwise do whatever the armed led is doing
motor_led1(_flags.armedled_on);
motor_led2(_flags.armedled_on);

8
libraries/AP_Notify/RGBLed.cpp
View File

@ -155,7 +155,6 @@ void RGBLed::update_colours(void)
// gps failsafe pattern : flashing yellow and blue
// ekf_bad pattern : flashing yellow and red
if (AP_Notify::flags.failsafe_radio || AP_Notify::flags.failsafe_battery ||
AP_Notify::flags.failsafe_gps || AP_Notify::flags.gps_glitching ||
AP_Notify::flags.ekf_bad) {
switch(step) {
case 0:
@ -173,12 +172,7 @@ void RGBLed::update_colours(void)
case 7:
case 8:
case 9:
if (AP_Notify::flags.failsafe_gps || AP_Notify::flags.gps_glitching) {
// blue on for gps failsafe or glitching
_red_des = _led_off;
_blue_des = brightness;
_green_des = _led_off;
} else if (AP_Notify::flags.ekf_bad) {
if (AP_Notify::flags.ekf_bad) {
// red on if ekf bad
_red_des = brightness;
_blue_des = _led_off;

18
libraries/AP_Notify/ToneAlarm_Linux.cpp
View File

@ -91,24 +91,6 @@ void ToneAlarm_Linux::update()
}
}
// check gps glitch
if (flags.gps_glitching != AP_Notify::flags.gps_glitching) {
flags.gps_glitching = AP_Notify::flags.gps_glitching;
if (flags.gps_glitching) {
// gps glitch warning tune
play_tune(TONE_GPS_WARNING_TUNE);
}
}
// check gps failsafe
if (flags.failsafe_gps != AP_Notify::flags.failsafe_gps) {
flags.failsafe_gps = AP_Notify::flags.failsafe_gps;
if (flags.failsafe_gps) {
// gps glitch warning tune
play_tune(TONE_GPS_WARNING_TUNE);
}
}
// check parachute release
if (flags.parachute_release != AP_Notify::flags.parachute_release) {
flags.parachute_release = AP_Notify::flags.parachute_release;

2
libraries/AP_Notify/ToneAlarm_Linux.h
View File

@ -42,8 +42,6 @@ private:
struct tonealarm_type {
bool armed : 1; // false = disarmed, true = armed
bool failsafe_battery : 1; // true if battery failsafe
bool gps_glitching : 1; // true if gps position is not good
bool failsafe_gps : 1; // true if gps failsafe
bool parachute_release : 1; // true if parachute is being released
} flags;
};

1
libraries/AP_Notify/ToneAlarm_PX4.h
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@ -51,7 +51,6 @@ private:
struct tonealarm_type {
uint8_t armed : 1; // 0 = disarmed, 1 = armed
uint8_t failsafe_battery : 1; // 1 if battery failsafe
uint8_t failsafe_gps : 1; // 1 if gps failsafe
uint8_t parachute_release : 1; // 1 if parachute is being released
uint8_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
uint8_t failsafe_radio : 1; // 1 if radio failsafe