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Plane: updates for new notify API

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This commit is contained in:
Andrew Tridgell 2013-08-29 13:13:58 +10:00
parent 7b1e2b0e78
commit a93f7c39a9
3 changed files with 9 additions and 23 deletions
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25
ArduPlane/ArduPlane.pde
View File

@ -71,9 +71,6 @@
#include <AP_TECS.h>
#include <AP_Notify.h> // Notify library
#include <AP_BoardLED.h> // BoardLEDs library
#include <ToshibaLED.h> // ToshibaLED library
#include <ToshibaLED_PX4.h> // ToshibaLED library for PX4
// Pre-AP_HAL compatibility
#include "compat.h"
@ -132,6 +129,9 @@ static RC_Channel *channel_pitch;
static RC_Channel *channel_throttle;
static RC_Channel *channel_rudder;
// notification object for LEDs, buzzers etc
static AP_Notify notify;
////////////////////////////////////////////////////////////////////////////////
// prototypes
static void update_events(void);
@ -386,16 +386,6 @@ static struct {
} failsafe;
////////////////////////////////////////////////////////////////////////////////
// LED output
////////////////////////////////////////////////////////////////////////////////
static AP_BoardLED board_led;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
static ToshibaLED_PX4 toshiba_led;
#else
static ToshibaLED toshiba_led;
#endif
////////////////////////////////////////////////////////////////////////////////
// GPS variables
////////////////////////////////////////////////////////////////////////////////
@ -722,7 +712,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ read_battery, 5, 1000 },
{ compass_accumulate, 1, 1500 },
{ barometer_accumulate, 1, 900 }, // 20
{ update_toshiba_led, 1, 100 },
{ update_notify, 1, 100 },
{ one_second_loop, 50, 3900 },
{ check_long_failsafe, 15, 1000 },
{ airspeed_ratio_update, 50, 1000 },
@ -744,15 +734,10 @@ void setup() {
AP_Param::setup_sketch_defaults();
// arduplane does not use arming nor pre-arm checks
notify.init();
AP_Notify::flags.armed = true;
AP_Notify::flags.pre_arm_check = true;
// initialise board leds
board_led.init();
// initialise toshiba led
toshiba_led.init();
rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
vcc_pin = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);

1
ArduPlane/GCS_Mavlink.pde
View File

@ -2144,6 +2144,7 @@ static void mavlink_delay_cb()
last_50hz = tnow;
gcs_update();
gcs_data_stream_send();
notify.update();
}
if (tnow - last_5s > 5000) {
last_5s = tnow;

6
ArduPlane/system.pde
View File

@ -483,11 +483,11 @@ static void startup_INS_ground(bool do_accel_init)
digitalWrite(C_LED_PIN, LED_OFF);
}
// update_toshiba_led - updates the status of the toshiba led
// updates the status of the notify objects
// should be called at 50hz
static void update_toshiba_led()
static void update_notify()
{
AP_Notify::update();
notify.update();
}
static void resetPerfData(void) {