mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.7 KiB
C++
51 lines
1.7 KiB
C++
/*
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ToneAlarm PX4 driver
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*/
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef __TONE_ALARM_PX4_H__
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#define __TONE_ALARM_PX4_H__
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#include "ToneAlarm_PX4.h"
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class ToneAlarm_PX4
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{
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public:
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/// init - initialised the tone alarm
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bool init(void);
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/// update - updates led according to timed_updated. Should be called at 50Hz
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void update();
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private:
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/// play_tune - play one of the pre-defined tunes
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bool play_tune(const uint8_t tune_number);
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int _tonealarm_fd; // file descriptor for the tone alarm
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/// tonealarm_type - bitmask of states we track
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struct tonealarm_type {
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uint8_t armed : 1; // 0 = disarmed, 1 = armed
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uint8_t failsafe_battery : 1; // 1 if battery failsafe
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uint8_t gps_glitching : 1; // 1 if gps position is not good
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uint8_t failsafe_gps : 1; // 1 if gps failsafe
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uint8_t arming_failed : 1; // 0 = failing checks, 1 = passed
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uint8_t parachute_release : 1; // 1 if parachute is being released
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uint8_t ekf_bad : 1; // 1 if ekf position has gone bad
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} flags;
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};
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#endif // __TONE_ALARM_PX4_H__
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