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AP_Notify: directly send dronecan beep command from the driver

This commit is contained in:
bugobliterator 2023-05-02 16:04:52 +10:00 committed by Andrew Tridgell
parent a1ba65a654
commit 5066d48718
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_Notify/MMLPlayer.cpp
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@ -67,12 +67,15 @@ void MMLPlayer::start_note(float duration, float frequency, float volume)
#if HAL_ENABLE_DRONECAN_DRIVERS
// support CAN buzzers too
uint8_t can_num_drivers = AP::can().get_num_drivers();
uavcan_equipment_indication_BeepCommand msg;
for (uint8_t i = 0; i < can_num_drivers; i++) {
AP_DroneCAN *uavcan = AP_DroneCAN::get_dronecan(i);
if (uavcan != nullptr &&
(AP::notify().get_buzzer_types() & AP_Notify::Notify_Buzz_UAVCAN)) {
uavcan->set_buzzer_tone(frequency, _note_duration_us*1.0e-6);
msg.frequency = frequency;
msg.duration = _note_duration_us*1.0e-6;
uavcan->buzzer.broadcast(msg);
}
}
#endif