From 4d6588a4791e5b04cd0bba1dca67cb9b39f916db Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 28 Jul 2014 21:28:34 +0900
Subject: [PATCH] Notify: APM2 buzzer for arming, ekf and baro failures

---
 libraries/AP_Notify/Buzzer.cpp | 78 ++++++++++++++++++++++++++++++++++
 libraries/AP_Notify/Buzzer.h   |  7 ++-
 2 files changed, 84 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Notify/Buzzer.cpp b/libraries/AP_Notify/Buzzer.cpp
index 7178d3e2ee..fc89e4274b 100644
--- a/libraries/AP_Notify/Buzzer.cpp
+++ b/libraries/AP_Notify/Buzzer.cpp
@@ -124,6 +124,54 @@ void Buzzer::update()
                     }
                 }
                 return;
+            case BARO_GLITCH:
+                // four fast tones
+                switch (_pattern_counter) {
+                    case 1:
+                    case 3:
+                    case 5:
+                    case 7:
+                    case 9:
+                        on(true);
+                        break;
+                    case 2:
+                    case 4:
+                    case 6:
+                    case 8:
+                        on(false);
+                        break;
+                    case 10:
+                        on(false);
+                        _pattern = NONE;
+                        break;
+                    default:
+                        // do nothing
+                        break;
+                }
+                return;
+            case EKF_BAD:
+                // four tones getting shorter)
+                switch (_pattern_counter) {
+                    case 1:
+                    case 5:
+                    case 8:
+                    case 10:
+                        on(true);
+                        break;
+                    case 4:
+                    case 7:
+                    case 9:
+                        on(false);
+                        break;
+                    case 11:
+                        on(false);
+                        _pattern = NONE;
+                        break;
+                    default:
+                        // do nothing
+                        break;
+                }
+                return;
             default:
                 // do nothing
                 break;
@@ -143,6 +191,16 @@ void Buzzer::update()
         return;
     }
 
+    // check arming failed
+    if (_flags.arming_failed != AP_Notify::flags.arming_failed) {
+        _flags.arming_failed = AP_Notify::flags.arming_failed;
+        if (_flags.arming_failed) {
+            // arming failed buzz
+            play_pattern(SINGLE_BUZZ);
+        }
+        return;
+    }
+
     // check gps glitch
     if (_flags.gps_glitching != AP_Notify::flags.gps_glitching) {
         _flags.gps_glitching = AP_Notify::flags.gps_glitching;
@@ -163,6 +221,26 @@ void Buzzer::update()
         return;
     }
 
+    // check ekf bad
+    if (_flags.ekf_bad != AP_Notify::flags.ekf_bad) {
+        _flags.ekf_bad = AP_Notify::flags.ekf_bad;
+        if (_flags.ekf_bad) {
+            // ekf bad warning buzz
+            play_pattern(EKF_BAD);
+        }
+        return;
+    }
+
+    // check baro glitch
+    if (_flags.baro_glitching != AP_Notify::flags.baro_glitching) {
+        _flags.baro_glitching = AP_Notify::flags.baro_glitching;
+        if (_flags.baro_glitching) {
+            // baro glitch warning buzz
+            play_pattern(BARO_GLITCH);
+        }
+        return;
+    }
+
     // if battery failsafe constantly single buzz
     if (AP_Notify::flags.failsafe_battery) {
         play_pattern(SINGLE_BUZZ);
diff --git a/libraries/AP_Notify/Buzzer.h b/libraries/AP_Notify/Buzzer.h
index aa17c6c574..c2d7cba03c 100644
--- a/libraries/AP_Notify/Buzzer.h
+++ b/libraries/AP_Notify/Buzzer.h
@@ -55,7 +55,9 @@ public:
         SINGLE_BUZZ = 1,
         DOUBLE_BUZZ = 2,
         GPS_GLITCH = 3,
-        ARMING_BUZZ = 4
+        ARMING_BUZZ = 4,
+        BARO_GLITCH = 5,
+        EKF_BAD = 6
     };
 
     /// play_pattern - plays the defined buzzer pattern
@@ -71,6 +73,9 @@ private:
         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 baro_glitching     : 1;    // 1 if baro alt is glitching
+        uint8_t arming_failed      : 1;    // 0 = failing checks, 1 = passed
+        uint8_t ekf_bad            : 1;    // 1 if ekf position has gone bad
     } _flags;
 
     uint8_t         _counter;           // reduces 50hz update down to 10hz for internal processing