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ToneAlarm_PX4: remove user_mode_init flag

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Replaced by an initialised check in the main ArduCopter flight code
This commit is contained in:
Randy Mackay 2014-12-15 13:40:21 +09:00
parent 562f3e7382
commit e68a69e139
2 changed files with 2 additions and 9 deletions
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10
libraries/AP_Notify/ToneAlarm_PX4.cpp
View File

@ -79,7 +79,6 @@ bool ToneAlarm_PX4::init()
flags.armed = AP_Notify::flags.armed; flags.armed = AP_Notify::flags.armed;
flags.failsafe_battery = AP_Notify::flags.failsafe_battery; flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
flags.pre_arm_check = 1; flags.pre_arm_check = 1;
flags.user_mode_initialized = 0;
_cont_tone_playing = -1; _cont_tone_playing = -1;
return true; return true;
} }
@ -149,7 +148,7 @@ void ToneAlarm_PX4::update()
} }
// notify the user when their mode change was successful // notify the user when their mode change was successful
if (AP_Notify::events.user_mode_change && flags.user_mode_initialized) { if (AP_Notify::events.user_mode_change) {
if (AP_Notify::flags.armed) { if (AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEU_FEEDBACK); play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEU_FEEDBACK);
} else { } else {
@ -158,7 +157,7 @@ void ToneAlarm_PX4::update()
} }
// notify the user when their mode change failed // notify the user when their mode change failed
if (AP_Notify::events.user_mode_change_failed && flags.user_mode_initialized) { if (AP_Notify::events.user_mode_change_failed) {
if (AP_Notify::flags.armed) { if (AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEG_FEEDBACK); play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEG_FEEDBACK);
} else { } else {
@ -166,11 +165,6 @@ void ToneAlarm_PX4::update()
} }
} }
//set user_mode_initialized
if (AP_Notify::events.user_mode_change || AP_Notify::events.user_mode_change_failed) {
flags.user_mode_initialized = 1;
}
// failsafe initiated mode change // failsafe initiated mode change
if(AP_Notify::events.failsafe_mode_change) { if(AP_Notify::events.failsafe_mode_change) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_ATTENTION_NEEDED); play_tone(AP_NOTIFY_PX4_TONE_LOUD_ATTENTION_NEEDED);

1
libraries/AP_Notify/ToneAlarm_PX4.h
View File

@ -56,7 +56,6 @@ private:
uint8_t parachute_release : 1; // 1 if parachute is being released uint8_t parachute_release : 1; // 1 if parachute is being released
uint8_t pre_arm_check : 1; // 0 = failing checks, 1 = passed uint8_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
uint8_t failsafe_radio : 1; // 1 if radio failsafe uint8_t failsafe_radio : 1; // 1 if radio failsafe
uint8_t user_mode_initialized : 1; // 1 if the flight mode has changed or failed to be changed
} flags; } flags;
int8_t _cont_tone_playing; int8_t _cont_tone_playing;