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

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

2
libraries/AP_Notify/AP_Notify.h
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@ -33,7 +33,7 @@ public:
/// notify_type - bitmask of notification types /// notify_type - bitmask of notification types
struct notify_type { struct notify_type {
uint16_t initialising : 1; // 1 if initialising and copter should not be moved 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 gps_glitching : 1; // 1 if gps position is not good
uint16_t armed : 1; // 0 = disarmed, 1 = armed uint16_t armed : 1; // 0 = disarmed, 1 = armed
uint16_t pre_arm_check : 1; // 0 = failing checks, 1 = passed uint16_t pre_arm_check : 1; // 0 = failing checks, 1 = passed

5
libraries/AP_Notify/ToshibaLED.cpp
View File

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