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AP_Notify: add gps glitching and failsafe flags

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This commit is contained in:
Randy Mackay 2013-09-23 17:04:08 +09:00
parent c596b27719
commit 54cb815fec
2 changed files with 20 additions and 0 deletions
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18
libraries/AP_Notify/ToneAlarm_PX4.cpp
View File

@ -85,6 +85,24 @@ void ToneAlarm_PX4::update()
play_tune(TONE_BATTERY_WARNING_FAST_TUNE);
}
}
// check gps glitch
if (flags.gps_glitching != AP_Notify::flags.gps_glitching) {
flags.gps_glitching = AP_Notify::flags.gps_glitching;
if (flags.gps_glitching) {
// gps glitch warning tune
play_tune(TONE_GPS_WARNING_TUNE);
}
}
// check gps failsafe
if (flags.failsafe_gps != AP_Notify::flags.failsafe_gps) {
flags.failsafe_gps = AP_Notify::flags.failsafe_gps;
if (flags.failsafe_gps) {
// gps glitch warning tune
play_tune(TONE_GPS_WARNING_TUNE);
}
}
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

2
libraries/AP_Notify/ToneAlarm_PX4.h
View File

@ -39,6 +39,8 @@ private:
struct tonealarm_type {
uint8_t armed : 1; // 0 = disarmed, 1 = armed
uint8_t failsafe_battery : 1; // 1 if battery failsafe
uint8_t gps_glitching : 1; // 1 if gps position is not good
uint8_t failsafe_gps : 1; // 1 if gps failsafe
} flags;
};