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AP_Notify: play tones for compass cal

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This commit is contained in:
Jonathan Challinger 2015-03-09 19:01:29 -07:00 committed by Andrew Tridgell
parent 89007c13cb
commit adef826a42
2 changed files with 35 additions and 0 deletions
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34
libraries/AP_Notify/ToneAlarm_PX4.cpp
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@ -63,6 +63,8 @@ const ToneAlarm_PX4::Tone ToneAlarm_PX4::_tones[] {
{ "MBT200>B#1", true },
#define AP_NOTIFY_PX4_TONE_LOUD_BATTERY_ALERT_CTS 13
{ "MBNT255>B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8", true },
#define AP_NOTIFY_PX4_TONE_QUIET_COMPASS_CALIBRATING_CTS 14
{ "MBNT255<C16P2", true },
};
bool ToneAlarm_PX4::init()
@ -132,6 +134,38 @@ void ToneAlarm_PX4::update()
check_cont_tone();
if (AP_Notify::flags.compass_cal_running != flags.compass_cal_running) {
if(AP_Notify::flags.compass_cal_running) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_COMPASS_CALIBRATING_CTS);
play_tone(AP_NOTIFY_PX4_TONE_QUIET_POS_FEEDBACK);
} else {
if(_cont_tone_playing == AP_NOTIFY_PX4_TONE_QUIET_COMPASS_CALIBRATING_CTS) {
stop_cont_tone();
}
}
}
flags.compass_cal_running = AP_Notify::flags.compass_cal_running;
if (AP_Notify::events.initiated_compass_cal) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
return;
}
if (AP_Notify::events.compass_cal_saved) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_READY_OR_FINISHED);
return;
}
if (AP_Notify::events.compass_cal_failed) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
return;
}
// don't play other tones if compass cal is running
if (AP_Notify::flags.compass_cal_running) {
return;
}
// notify the user when autotune or mission completes
if (AP_Notify::flags.armed && (AP_Notify::events.autotune_complete || AP_Notify::events.mission_complete)) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_READY_OR_FINISHED);

1
libraries/AP_Notify/ToneAlarm_PX4.h
View File

@ -55,6 +55,7 @@ private:
uint8_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
uint8_t failsafe_radio : 1; // 1 if radio failsafe
uint8_t vehicle_lost : 1; // 1 if lost copter tone requested
uint8_t compass_cal_running : 1; // 1 if compass calibration is running
} flags;
int8_t _cont_tone_playing;