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Notify: add parachute release tune for Pixhawk

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This commit is contained in:
Randy Mackay 2014-04-03 22:03:12 +09:00
parent 47c1cb8b99
commit e3e7fc284d
3 changed files with 13 additions and 1 deletions
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1
libraries/AP_Notify/AP_Notify.h
View File

@ -43,6 +43,7 @@ public:
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 parachute_release : 1; // 1 if parachute is being released
// additional flags
uint16_t external_leds : 1; // 1 if external LEDs are enabled (normally only used for copter)

10
libraries/AP_Notify/ToneAlarm_PX4.cpp
View File

@ -65,6 +65,7 @@ void ToneAlarm_PX4::update()
return;
}
// check for arming failure
if(flags.arming_failed != AP_Notify::flags.arming_failed) {
flags.arming_failed = AP_Notify::flags.arming_failed;
if(flags.arming_failed) {
@ -110,6 +111,15 @@ void ToneAlarm_PX4::update()
play_tune(TONE_GPS_WARNING_TUNE);
}
}
// check parachute release
if (flags.parachute_release != AP_Notify::flags.parachute_release) {
flags.parachute_release = AP_Notify::flags.parachute_release;
if (flags.parachute_release) {
// parachute release warning tune
play_tune(TONE_PARACHUTE_RELEASE_TUNE);
}
}
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

1
libraries/AP_Notify/ToneAlarm_PX4.h
View File

@ -42,6 +42,7 @@ private:
uint8_t gps_glitching : 1; // 1 if gps position is not good
uint8_t failsafe_gps : 1; // 1 if gps failsafe
uint8_t arming_failed : 1; // 0 = failing checks, 1 = passed
uint8_t parachute_release : 1; // 1 if parachute is being released
} flags;
};