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Merge pull request #97 from sjwilks/px4io_safety_switch 

Add new safety switch LED blink sequence when both FMU and IO are armed
This commit is contained in:
px4dev 2012-12-07 18:53:16 -08:00
parent 82cbac70ee 197e573885
commit 566012d5aa
1 changed files with 23 additions and 2 deletions
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23
apps/px4io/safety.c
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@ -60,6 +60,11 @@ static struct hrt_call failsafe_call;
*/
static unsigned counter;
/*
* Used to coordinate a special blink pattern wheb both the FMU and IO are armed.
*/
static unsigned blink_count = 0;
#define ARM_COUNTER_THRESHOLD 10
#define DISARM_COUNTER_THRESHOLD 2
@ -120,9 +125,25 @@ safety_check_button(void *arg)
counter = 0;
}
/* when armed, toggle the LED; when safe, leave it on */
/*
* When the IO is armed, toggle the LED; when IO and FMU armed use aircraft like
* pattern (long pause then 2 fast blinks); when safe, leave it on.
*/
if (system_state.armed) {
if (system_state.arm_ok) {
/* FMU and IO are armed */
if (blink_count > 9) {
safety_led_state = !safety_led_state;
} else {
safety_led_state = false;
}
if (blink_count++ == 12) {
blink_count = 0;
}
} else {
/* Only the IO is armed so use a constant blink rate */
safety_led_state = !safety_led_state;
}
} else {
safety_led_state = true;
}