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Beep when arming or disarming with RC

This commit is contained in:
Julian Oes 2013-06-25 14:45:27 +02:00
parent a6ba7e4485
commit 9ce2b62eb5
1 changed files with 9 additions and 7 deletions
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16
src/modules/commander/commander.c
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@ -2033,9 +2033,11 @@ int commander_thread_main(int argc, char *argv[])
(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
) {
arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd);
tune_positive();
} else {
mavlink_log_critical(mavlink_fd, "STICK DISARM not allowed");
tune_negative();
}
stick_off_counter = 0;
@ -2050,6 +2052,7 @@ int commander_thread_main(int argc, char *argv[])
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
arming_state_transition(status_pub, &current_status, ARMING_STATE_ARMED, safety_pub, &safety, mavlink_fd);
stick_on_counter = 0;
tune_positive();
} else {
stick_on_counter++;
@ -2219,17 +2222,16 @@ int commander_thread_main(int argc, char *argv[])
/* play tone according to evaluation result */
/* check if we recently armed */
if (!arm_tune_played && safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available))) {
ioctl(buzzer, TONE_SET_ALARM, 12);
arm_tune_played = true;
if (ioctl(buzzer, TONE_SET_ALARM, 12) == OK)
arm_tune_played = true;
// // XXX Export patterns and threshold to parameters
/* Trigger audio event for low battery */
} else if (bat_remain < 0.1f && battery_voltage_valid) {
ioctl(buzzer, TONE_SET_ALARM, 14);
battery_tune_played = true;
if (ioctl(buzzer, TONE_SET_ALARM, 14) == OK)
battery_tune_played = true;
} else if (bat_remain < 0.2f && battery_voltage_valid) {
ioctl(buzzer, TONE_SET_ALARM, 13);
battery_tune_played = true;
if (ioctl(buzzer, TONE_SET_ALARM, 13) == OK)
battery_tune_played = true;
} else if(battery_tune_played) {
ioctl(buzzer, TONE_SET_ALARM, 0);
battery_tune_played = false;