mirror of
https://github.com/ArduPilot/ardupilot
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2425023331
Your Copter in stabilize mode can flash rapid-green indicating a good DGPS lock or better, and yet your vehicle still doesn't have a good idea of where it is. That means that your vehicle may end up RTL'ing onto a point somewhere along your flight path, when you were given an all-green indication by teh vehicle before you armed in stabilize. Past this PR, we require the same GPS as before, but in addition we must have been happy enough with our location to set the navigation origin, *and* currently be able to get a location. A user will receive slow-flashing blue lights if they can't currently get a location, or the navigation origin isn't set, even if they've got a "good" fix. We also require a good location to get a solid green light - you will get a solid blue light if you can't get a location or don't have a navigation origin, even if you have a good GPS lock
117 lines
4.7 KiB
C++
117 lines
4.7 KiB
C++
/*
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* AP_Notify Library.
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* based upon a prototype library by David "Buzz" Bussenschutt.
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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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#pragma once
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#include "NotifyDevice.h"
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class RGBLed: public NotifyDevice {
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public:
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RGBLed(uint8_t led_off, uint8_t led_bright, uint8_t led_medium, uint8_t led_dim);
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// set_rgb - set color as a combination of red, green and blue levels from 0 ~ 15
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void set_rgb(uint8_t red, uint8_t green, uint8_t blue);
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// update - updates led according to timed_updated. Should be
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// called at 50Hz
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virtual void update() override;
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#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
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// handle LED control, only used when LED_OVERRIDE=1
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virtual void handle_led_control(const mavlink_message_t &msg) override;
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#endif
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// RGB control
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// give RGB and flash rate, used with scripting
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void rgb_control(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz) override;
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protected:
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// methods implemented in hardware specific classes
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virtual bool hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) = 0;
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// set_rgb - set color as a combination of red, green and blue levels from 0 ~ 15
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virtual void _set_rgb(uint8_t red, uint8_t green, uint8_t blue);
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void update_override();
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// meta-data common to all hw devices
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uint8_t _red_curr, _green_curr, _blue_curr; // current colours displayed by the led
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uint8_t _led_off;
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uint8_t _led_bright;
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uint8_t _led_medium;
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uint8_t _led_dim;
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struct {
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uint8_t r, g, b;
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uint8_t rate_hz;
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uint32_t start_ms;
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} _led_override;
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private:
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void update_colours();
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uint32_t get_colour_sequence() const;
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uint32_t get_colour_sequence_obc() const;
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uint32_t get_colour_sequence_traffic_light() const;
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uint8_t get_brightness(void) const;
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#define DEFINE_COLOUR_SEQUENCE(S0, S1, S2, S3, S4, S5, S6, S7, S8, S9) \
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((S0) << (0*3) | (S1) << (1*3) | (S2) << (2*3) | (S3) << (3*3) | (S4) << (4*3) | (S5) << (5*3) | (S6) << (6*3) | (S7) << (7*3) | (S8) << (8*3) | (S9) << (9*3))
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#define DEFINE_COLOUR_SEQUENCE_SLOW(colour) \
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DEFINE_COLOUR_SEQUENCE(colour,colour,colour,colour,colour,BLACK,BLACK,BLACK,BLACK,BLACK)
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#define DEFINE_COLOUR_SEQUENCE_FAILSAFE(colour) \
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DEFINE_COLOUR_SEQUENCE(YELLOW,YELLOW,YELLOW,YELLOW,YELLOW,colour,colour,colour,colour,colour)
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#define DEFINE_COLOUR_SEQUENCE_SOLID(colour) \
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DEFINE_COLOUR_SEQUENCE(colour,colour,colour,colour,colour,colour,colour,colour,colour,colour)
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#define DEFINE_COLOUR_SEQUENCE_ALTERNATE(colour1, colour2) \
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DEFINE_COLOUR_SEQUENCE(colour1,colour2,colour1,colour2,colour1,colour2,colour1,colour2,colour1,colour2)
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#define BLACK 0
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#define BLUE 1
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#define GREEN 2
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#define RED 4
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#define YELLOW (RED|GREEN)
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#define WHITE (RED|GREEN|BLUE)
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const uint32_t sequence_initialising = DEFINE_COLOUR_SEQUENCE_ALTERNATE(RED,BLUE);
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const uint32_t sequence_trim_or_esc = DEFINE_COLOUR_SEQUENCE(RED,BLUE,GREEN,RED,BLUE,GREEN,RED,BLUE,GREEN,BLACK);
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const uint32_t sequence_failsafe_leak = DEFINE_COLOUR_SEQUENCE_FAILSAFE(WHITE);
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const uint32_t sequence_failsafe_ekf = DEFINE_COLOUR_SEQUENCE_FAILSAFE(RED);
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const uint32_t sequence_failsafe_gps_glitching = DEFINE_COLOUR_SEQUENCE_FAILSAFE(BLUE);
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const uint32_t sequence_failsafe_radio_or_battery = DEFINE_COLOUR_SEQUENCE_FAILSAFE(BLACK);
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const uint32_t sequence_armed = DEFINE_COLOUR_SEQUENCE_SOLID(GREEN);
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const uint32_t sequence_armed_no_gps_or_no_location = DEFINE_COLOUR_SEQUENCE_SOLID(BLUE);
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const uint32_t sequence_prearm_failing = DEFINE_COLOUR_SEQUENCE(YELLOW,YELLOW,BLACK,BLACK,YELLOW,YELLOW,BLACK,BLACK,BLACK,BLACK);
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const uint32_t sequence_disarmed_good_dgps_and_location = DEFINE_COLOUR_SEQUENCE_ALTERNATE(GREEN,BLACK);
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const uint32_t sequence_disarmed_good_gps_and_location = DEFINE_COLOUR_SEQUENCE_SLOW(GREEN);
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const uint32_t sequence_disarmed_bad_gps_or_no_location = DEFINE_COLOUR_SEQUENCE_SLOW(BLUE);
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uint8_t last_step;
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enum class Source {
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standard = 0,
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mavlink = 1,
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obc = 2,
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traffic_light = 3,
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};
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Source rgb_source() const;
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};
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