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AP_Notify: Support all GPS status flags, with status >= GPS_OK_FIX_3D notified as having a lock

This commit is contained in:
Niels Joubert 2014-03-31 16:19:28 -07:00 committed by Andrew Tridgell
parent 87c77dc07f
commit 64d4a1236f
3 changed files with 6 additions and 5 deletions
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2
libraries/AP_Notify/AP_BoardLED.cpp
View File

@ -161,7 +161,7 @@ void AP_BoardLED::update(void)
}
break;
case 3:
default:
// solid blue on gps lock
hal.gpio->write(HAL_GPIO_C_LED_PIN, HAL_GPIO_LED_ON);
break;

4
libraries/AP_Notify/AP_Notify.h
View File

@ -33,7 +33,7 @@ public:
/// notify_type - bitmask of notification types
struct notify_type {
uint16_t initialising : 1; // 1 if initialising and copter should not be moved
uint16_t gps_status : 2; // 0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock
uint16_t gps_status : 3; // 0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock, 4 = dgps lock, 5 = rtk lock
uint16_t gps_glitching : 1; // 1 if gps position is not good
uint16_t armed : 1; // 0 = disarmed, 1 = armed
uint16_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
@ -42,7 +42,7 @@ public:
uint16_t failsafe_radio : 1; // 1 if radio failsafe
uint16_t failsafe_battery : 1; // 1 if battery failsafe
uint16_t failsafe_gps : 1; // 1 if gps failsafe
uint16_t arming_failed : 1; // 1 if copter failed to arm after user input
uint16_t arming_failed : 1; // 1 if copter failed to arm after user input
// additional flags
uint16_t external_leds : 1; // 1 if external LEDs are enabled (normally only used for copter)

5
libraries/AP_Notify/ToshibaLED.cpp
View File

@ -18,6 +18,7 @@
*/
#include <AP_HAL.h>
#include <AP_GPS.h>
#include "ToshibaLED.h"
#include "AP_Notify.h"
@ -167,7 +168,7 @@ void ToshibaLED::update_colours(void)
// solid green or flashing green if armed
if (AP_Notify::flags.armed) {
// solid green if armed with GPS 3d lock
if (AP_Notify::flags.gps_status == 3) {
if (AP_Notify::flags.gps_status >= AP_GPS::GPS_OK_FIX_3D) {
_red_des = TOSHIBA_LED_OFF;
_blue_des = TOSHIBA_LED_OFF;
_green_des = brightness;
@ -213,7 +214,7 @@ void ToshibaLED::update_colours(void)
case 3:
case 4:
_red_des = TOSHIBA_LED_OFF;
if (AP_Notify::flags.gps_status == 3) {
if (AP_Notify::flags.gps_status >= AP_GPS::GPS_OK_FIX_3D) {
// flashing green if disarmed with GPS 3d lock
_blue_des = TOSHIBA_LED_OFF;
_green_des = brightness;