56 lines
2.1 KiB
C
56 lines
2.1 KiB
C
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_NOTIFY_H__
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#define __AP_NOTIFY_H__
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#include <AP_Common.h>
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class AP_Notify
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{
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public:
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/// notify_type - bitmask of notification types
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struct notify_type {
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uint16_t initialising : 1; // 1 if initialising and copter should not be moved
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uint16_t gps_status : 2; // 0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock
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uint16_t armed : 1; // 0 = disarmed, 1 = armed
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uint16_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
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uint16_t save_trim : 1; // 1 if gathering trim data
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uint16_t esc_calibration: 1; // 1 if calibrating escs
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} flags;
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/// Constructor
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//Notify();
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/// To-Do: potential notifications to add
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/// flight_mode
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/// void flight_mode(uint8_t mode) = 0;
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/// throttle failsafe
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/// void fs_throttle(bool uint8_t); // 0 if throttle failsafe is cleared, 1 if activated
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/// void fs_battery(bool uint8_t); // 1 if battery voltage is low or consumed amps close to battery capacity, 0 if cleared
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/// void fs_gps(bool uint8_t); // 1 if we've lost gps lock and it is required for our current flightmode, 0 if cleared
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/// void fs_gcs(bool uint8_t); // 1 if we've lost contact with the gcs and it is required for our current flightmode or pilot input method, 0 if cleared
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/// void fence_breach(bool uint8_t); // fence type breached or 0 if cleared
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/// switch_aux1(uint8_t state); // 0 if aux switch is off, 1 if in middle, 2 if high
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/// switch_aux2(uint8_t state); // 0 if aux switch is off, 1 if in middle, 2 if high
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/// reached_waypoint(); // called after we reach a waypoint
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/// error(uint8_t subsystem_id, uint8_t error_code); // general error reporting
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/// objects that we expect to create:
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/// apm2, px4 leds
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/// copter leds
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/// blinkm
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/// buzzer
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};
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// declare a static instance so that it can be accessed easily from anywhere
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extern AP_Notify notify;
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#endif // __AP_NOTIFY_H__
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