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Buzzer: handle arming_failed as event

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This commit is contained in:
Randy Mackay 2015-02-03 05:58:20 +09:00
parent a991b4a823
commit 6cfd48d0c6
2 changed files with 6 additions and 11 deletions
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16
libraries/AP_Notify/Buzzer.cpp
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@ -49,6 +49,12 @@ void Buzzer::update()
return;
}
// check for arming failed event
if (AP_Notify::events.arming_failed) {
// arming failed buzz
play_pattern(SINGLE_BUZZ);
}
// reduce 50hz call down to 10hz
_counter++;
if (_counter < 5) {
@ -192,16 +198,6 @@ 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;

1
libraries/AP_Notify/Buzzer.h
View File

@ -76,7 +76,6 @@ private:
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;