forked from Archive/PX4-Autopilot
Merge pull request #182 from NosDE/master
BlnkM: Timing changed and amber color for manual mode added
This commit is contained in:
px4dev
commit
942cea157d
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@ -57,7 +57,7 @@
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* System armed:
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* One message is made of 4 Blinks and a pause in the same length as the 4 blinks.
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*
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* X-X-X-X-_-_-_-_-
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* X-X-X-X-_-_-_-_-_-_-
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* -------------------------
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* G G G M
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* P P P O
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@ -67,26 +67,26 @@
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* (X = on, _=off)
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*
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* The first 3 blinks indicates the status of the GPS-Signal (red):
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* 0-4 satellites = X-X-X-X-_-_-_-_-
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* 5 satellites = X-X-_-X-_-_-_-_-
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* 6 satellites = X-_-_-X-_-_-_-_-
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* >=7 satellites = _-_-_-X-_-_-_-_-
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* 0-4 satellites = X-X-X-X-_-_-_-_-_-_-
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* 5 satellites = X-X-_-X-_-_-_-_-_-_-
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* 6 satellites = X-_-_-X-_-_-_-_-_-_-
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* >=7 satellites = _-_-_-X-_-_-_-_-_-_-
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* If no GPS is found the first 3 blinks are white
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*
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* The fourth Blink indicates the Flightmode:
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* MANUAL : off
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* MANUAL : amber
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* STABILIZED : yellow
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* HOLD : blue
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* AUTO : green
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*
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* Battery Warning (low Battery Level):
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* Continuously blinking in yellow X-X-X-X-X-X-X-X
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* Continuously blinking in yellow X-X-X-X-X-X-X-X-X-X
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*
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* Battery Alert (critical Battery Level)
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* Continuously blinking in red X-X-X-X-X-X-X-X
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* Continuously blinking in red X-X-X-X-X-X-X-X-X-X
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*
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* General Error (no uOrb Data)
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* Continuously blinking in white X-X-X-X-X-X-X-X
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* Continuously blinking in white X-X-X-X-X-X-X-X-X-X
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*
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*/
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@ -118,8 +118,8 @@
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#include <uORB/topics/vehicle_gps_position.h>
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static const float MAX_CELL_VOLTAGE = 4.3f;
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static const int LED_ONTIME = 100;
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static const int LED_OFFTIME = 100;
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static const int LED_ONTIME = 120;
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static const int LED_OFFTIME = 120;
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static const int LED_BLINK = 1;
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static const int LED_NOBLINK = 0;
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@ -167,7 +167,8 @@ private:
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LED_PURPLE,
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LED_GREEN,
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LED_BLUE,
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LED_WHITE
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LED_WHITE,
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LED_AMBER
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};
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work_s _work;
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@ -178,6 +179,8 @@ private:
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int led_color_4;
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int led_color_5;
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int led_color_6;
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int led_color_7;
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int led_color_8;
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int led_blink;
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bool systemstate_run;
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@ -250,6 +253,8 @@ BlinkM::BlinkM(int bus) :
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led_color_4(LED_OFF),
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led_color_5(LED_OFF),
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led_color_6(LED_OFF),
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led_color_7(LED_OFF),
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led_color_8(LED_OFF),
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led_blink(LED_NOBLINK),
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systemstate_run(false)
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{
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@ -374,7 +379,7 @@ BlinkM::led()
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static int num_of_cells = 0;
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static int detected_cells_runcount = 0;
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static int t_led_color[6] = { 0, 0, 0, 0, 0, 0};
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static int t_led_color[8] = { 0, 0, 0, 0, 0, 0, 0, 0};
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static int t_led_blink = 0;
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static int led_thread_runcount=0;
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static int led_interval = 1000;
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@ -416,6 +421,8 @@ BlinkM::led()
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t_led_color[4] = LED_PURPLE;
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}
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t_led_color[5] = LED_OFF;
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t_led_color[6] = LED_OFF;
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t_led_color[7] = LED_OFF;
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t_led_blink = LED_BLINK;
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} else {
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t_led_color[0] = led_color_1;
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@ -424,6 +431,8 @@ BlinkM::led()
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t_led_color[3] = led_color_4;
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t_led_color[4] = led_color_5;
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t_led_color[5] = led_color_6;
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t_led_color[6] = led_color_7;
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t_led_color[7] = led_color_8;
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t_led_blink = led_blink;
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}
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led_thread_ready = false;
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@ -434,16 +443,19 @@ BlinkM::led()
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setLEDColor(LED_OFF);
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led_interval = LED_OFFTIME;
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} else {
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setLEDColor(t_led_color[(led_thread_runcount / 2) % 6]);
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setLEDColor(t_led_color[(led_thread_runcount / 2) % 8]);
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//led_interval = (led_thread_runcount & 1) : LED_ONTIME;
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led_interval = LED_ONTIME;
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}
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if (led_thread_runcount == 11) {
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if (led_thread_runcount == 15) {
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/* obtained data for the first file descriptor */
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struct vehicle_status_s vehicle_status_raw;
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struct vehicle_gps_position_s vehicle_gps_position_raw;
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memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw));
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memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw));
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bool new_data_vehicle_status;
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bool new_data_vehicle_gps_position;
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@ -473,7 +485,8 @@ BlinkM::led()
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/* get number of used satellites in navigation */
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num_of_used_sats = 0;
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for(int satloop=0; satloop<20; satloop++) {
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//for(int satloop=0; satloop<20; satloop++) {
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for(int satloop=0; satloop<sizeof(vehicle_gps_position_raw.satellite_used); satloop++) {
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if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
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num_of_used_sats++;
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}
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@ -497,6 +510,8 @@ BlinkM::led()
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led_color_4 = LED_YELLOW;
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led_color_5 = LED_YELLOW;
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led_color_6 = LED_YELLOW;
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led_color_7 = LED_YELLOW;
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led_color_8 = LED_YELLOW;
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led_blink = LED_BLINK;
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} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) {
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@ -507,6 +522,8 @@ BlinkM::led()
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led_color_4 = LED_RED;
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led_color_5 = LED_RED;
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led_color_6 = LED_RED;
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led_color_7 = LED_RED;
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led_color_8 = LED_RED;
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led_blink = LED_BLINK;
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} else {
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@ -520,6 +537,8 @@ BlinkM::led()
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led_color_4 = LED_RED;
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led_color_5 = LED_RED;
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led_color_6 = LED_RED;
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led_color_7 = LED_RED;
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led_color_8 = LED_RED;
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led_blink = LED_NOBLINK;
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} else {
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@ -530,12 +549,14 @@ BlinkM::led()
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led_color_4 = LED_OFF;
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led_color_5 = LED_OFF;
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led_color_6 = LED_OFF;
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led_color_7 = LED_OFF;
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led_color_8 = LED_OFF;
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led_blink = LED_BLINK;
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/* handle 4th led - flightmode indicator */
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switch((int)vehicle_status_raw.flight_mode) {
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case VEHICLE_FLIGHT_MODE_MANUAL:
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led_color_4 = LED_OFF;
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led_color_4 = LED_AMBER;
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break;
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case VEHICLE_FLIGHT_MODE_STAB:
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@ -583,6 +604,8 @@ BlinkM::led()
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led_color_4 = LED_WHITE;
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led_color_5 = LED_WHITE;
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led_color_6 = LED_WHITE;
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led_color_7 = LED_WHITE;
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led_color_8 = LED_WHITE;
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led_blink = LED_BLINK;
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}
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@ -646,6 +669,9 @@ void BlinkM::setLEDColor(int ledcolor) {
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case LED_WHITE: // white
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set_rgb(255,255,255);
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break;
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case LED_AMBER: // amber
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set_rgb(255,20,0);
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break;
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}
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}
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