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AP_Notify: add buzzer noises

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This commit is contained in:
Henry Wurzburg 2023-04-03 07:42:53 -05:00 committed by Peter Barker
parent 00858dce78
commit ec1d29d806
3 changed files with 17 additions and 0 deletions
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1
libraries/AP_Notify/AP_Notify.h
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@ -123,6 +123,7 @@ public:
bool powering_off; // true when the vehicle is powering off bool powering_off; // true when the vehicle is powering off
bool video_recording; // true when the vehicle is recording video bool video_recording; // true when the vehicle is recording video
bool temp_cal_running; // true if a temperature calibration is running bool temp_cal_running; // true if a temperature calibration is running
bool gyro_calibrated; // true if calibrated gyro/acc
}; };
/// notify_events_type - bitmask of active events. /// notify_events_type - bitmask of active events.

12
libraries/AP_Notify/Buzzer.cpp
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@ -66,6 +66,18 @@ void Buzzer::update_pattern_to_play()
return; return;
} }
// initializing?
if (_flags.gyro_calibrated != AP_Notify::flags.gyro_calibrated) {
_flags.gyro_calibrated = AP_Notify::flags.gyro_calibrated;
play_pattern(INIT_GYRO);
}
// check if prearm check are good
if (AP_Notify::flags.pre_arm_check && !_flags.pre_arm_check) {
_flags.pre_arm_check = true;
play_pattern(PRE_ARM_GOOD);
}
// check if armed status has changed // check if armed status has changed
if (_flags.armed != AP_Notify::flags.armed) { if (_flags.armed != AP_Notify::flags.armed) {
_flags.armed = AP_Notify::flags.armed; _flags.armed = AP_Notify::flags.armed;

4
libraries/AP_Notify/Buzzer.h
View File

@ -43,6 +43,8 @@ private:
static const uint32_t ARMING_BUZZ = 0b11111111111111111111111111111100UL; // 3s static const uint32_t ARMING_BUZZ = 0b11111111111111111111111111111100UL; // 3s
static const uint32_t BARO_BUZZ = 0b10101010100000000000000000000000UL; static const uint32_t BARO_BUZZ = 0b10101010100000000000000000000000UL;
static const uint32_t EKF_BAD = 0b11101101010000000000000000000000UL; static const uint32_t EKF_BAD = 0b11101101010000000000000000000000UL;
static const uint32_t INIT_GYRO = 0b10010010010010010010000000000000UL;
static const uint32_t PRE_ARM_GOOD = 0b10101011111111110000000000000000UL;
/// play_pattern - plays the defined buzzer pattern /// play_pattern - plays the defined buzzer pattern
void play_pattern(const uint32_t pattern); void play_pattern(const uint32_t pattern);
@ -54,6 +56,8 @@ private:
uint8_t armed : 1; // 0 = disarmed, 1 = armed uint8_t armed : 1; // 0 = disarmed, 1 = armed
uint8_t failsafe_battery : 1; // 1 if battery failsafe has triggered uint8_t failsafe_battery : 1; // 1 if battery failsafe has triggered
uint8_t ekf_bad : 1; // 1 if ekf position has gone bad uint8_t ekf_bad : 1; // 1 if ekf position has gone bad
uint8_t gyro_calibrated : 1; // 1 if calibrating gyro
uint8_t pre_arm_check : 1; // 1 if pre-arm check has passed
} _flags; } _flags;
uint32_t _pattern; // current pattern uint32_t _pattern; // current pattern