Plane: updates for new notify API

ArduPlane/ArduPlane.pde

@@ -71,9 +71,6 @@
 #include <AP_TECS.h>
 
 #include <AP_Notify.h>      // Notify library
-#include <AP_BoardLED.h>    // BoardLEDs library
-#include <ToshibaLED.h>     // ToshibaLED library
-#include <ToshibaLED_PX4.h> // ToshibaLED library for PX4
 
 // Pre-AP_HAL compatibility
 #include "compat.h"
@@ -132,6 +129,9 @@ static RC_Channel *channel_pitch;
 static RC_Channel *channel_throttle;
 static RC_Channel *channel_rudder;
 
+// notification object for LEDs, buzzers etc
+static AP_Notify notify;
+
 ////////////////////////////////////////////////////////////////////////////////
 // prototypes
 static void update_events(void);
@@ -386,16 +386,6 @@ static struct {
 } failsafe;
 
 
-////////////////////////////////////////////////////////////////////////////////
-// LED output
-////////////////////////////////////////////////////////////////////////////////
-static AP_BoardLED board_led;
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-static ToshibaLED_PX4 toshiba_led;
-#else
-static ToshibaLED toshiba_led;
-#endif
-
 ////////////////////////////////////////////////////////////////////////////////
 // GPS variables
 ////////////////////////////////////////////////////////////////////////////////
@@ -722,7 +712,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { read_battery,           5,   1000 },
     { compass_accumulate,     1,   1500 },
     { barometer_accumulate,   1,    900 }, // 20
-    { update_toshiba_led,     1,    100 },
+    { update_notify,          1,    100 },
     { one_second_loop,       50,   3900 },
     { check_long_failsafe,   15,   1000 },
     { airspeed_ratio_update, 50,   1000 },
@@ -744,15 +734,10 @@ void setup() {
     AP_Param::setup_sketch_defaults();
 
     // arduplane does not use arming nor pre-arm checks
+    notify.init();
     AP_Notify::flags.armed = true;
     AP_Notify::flags.pre_arm_check = true;
 
-    // initialise board leds
-    board_led.init();
-
-    // initialise toshiba led
-    toshiba_led.init();
-
     rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
 
     vcc_pin = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);

ArduPlane/GCS_Mavlink.pde

@@ -2144,6 +2144,7 @@ static void mavlink_delay_cb()
         last_50hz = tnow;
         gcs_update();
         gcs_data_stream_send();
+        notify.update();
     }
     if (tnow - last_5s > 5000) {
         last_5s = tnow;

ArduPlane/system.pde

@@ -483,11 +483,11 @@ static void startup_INS_ground(bool do_accel_init)
     digitalWrite(C_LED_PIN, LED_OFF);
 }
 
-// update_toshiba_led - updates the status of the toshiba led
+// updates the status of the notify objects
 // should be called at 50hz
-static void update_toshiba_led()
+static void update_notify()
 {
-    AP_Notify::update();
+    notify.update();
 }
 
 static void resetPerfData(void) {