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AP_Notify: ensure we can't skip a step in RGBLed timing

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This commit is contained in:
Andrew Tridgell 2018-10-07 16:47:05 +11:00 committed by Randy Mackay
parent 6489166996
commit 38616e6bee
2 changed files with 9 additions and 2 deletions
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10
libraries/AP_Notify/RGBLed.cpp
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@ -156,9 +156,15 @@ void RGBLed::update_colours(void)
const uint32_t current_colour_sequence = get_colour_sequence();
const uint8_t step = (AP_HAL::millis()/100) % 10;
uint8_t step = (AP_HAL::millis()/100) % 10;
const uint8_t colour = current_colour_sequence >> (step*3);
// ensure we can't skip a step even with awful timing
if (step != last_step) {
step = (last_step+1) % 10;
last_step = step;
}
const uint8_t colour = (current_colour_sequence >> (step*3)) & 7;
_red_des = (colour & RED) ? brightness : 0;
_green_des = (colour & GREEN) ? brightness : 0;

1
libraries/AP_Notify/RGBLed.h
View File

@ -102,4 +102,5 @@ private:
const uint32_t sequence_disarmed_good_gps = DEFINE_COLOUR_SEQUENCE_SLOW(GREEN);
const uint32_t sequence_disarmed_bad_gps = DEFINE_COLOUR_SEQUENCE_SLOW(BLUE);
uint8_t last_step;
};