From dcc74be4aacec0fffa474b5cd756ce20cff288d1 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 28 Jul 2014 20:41:30 +0900 Subject: [PATCH] Notify: baro warning tone alarm --- libraries/AP_Notify/ToneAlarm_PX4.cpp | 9 +++++++++ libraries/AP_Notify/ToneAlarm_PX4.h | 1 + 2 files changed, 10 insertions(+) diff --git a/libraries/AP_Notify/ToneAlarm_PX4.cpp b/libraries/AP_Notify/ToneAlarm_PX4.cpp index a8ca4d046b..fb745da2b0 100644 --- a/libraries/AP_Notify/ToneAlarm_PX4.cpp +++ b/libraries/AP_Notify/ToneAlarm_PX4.cpp @@ -112,6 +112,15 @@ void ToneAlarm_PX4::update() } } + // check baro glitch + if (flags.baro_glitching != AP_Notify::flags.baro_glitching) { + flags.baro_glitching = AP_Notify::flags.baro_glitching; + if (flags.baro_glitching) { + // gps glitch warning tune + play_tune(TONE_BARO_WARNING_TUNE); + } + } + // check parachute release if (flags.parachute_release != AP_Notify::flags.parachute_release) { flags.parachute_release = AP_Notify::flags.parachute_release; diff --git a/libraries/AP_Notify/ToneAlarm_PX4.h b/libraries/AP_Notify/ToneAlarm_PX4.h index cb55dd6219..3d44ce2942 100644 --- a/libraries/AP_Notify/ToneAlarm_PX4.h +++ b/libraries/AP_Notify/ToneAlarm_PX4.h @@ -41,6 +41,7 @@ private: uint8_t failsafe_battery : 1; // 1 if battery failsafe uint8_t gps_glitching : 1; // 1 if gps position is not good 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 parachute_release : 1; // 1 if parachute is being released uint8_t ekf_bad : 1; // 1 if ekf position has gone bad