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Commander: fix startup sound interrupted by safety button initialization 

The safetyButtonHandler() reports that the safety statatus
changed on the first loop iteration when safety is disabled which makes
sense to inform the system that safety is off but the tune for the user
should not be played because it interrupts the startup tune.
This commit is contained in:
Matthias Grob 2022-06-07 18:24:20 +02:00 committed by Igor Mišić
parent 71103e6114
commit bd50a52c9c
2 changed files with 7 additions and 4 deletions
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10
src/modules/commander/Commander.cpp
View File

@ -2307,11 +2307,13 @@ Commander::run()
_safety.isButtonAvailable(), _vehicle_status);
// Notify the user if the status of the safety button changes
if (_safety.isSafetyOff()) {
set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);
if (!_safety.isSafetyDisabled()) {
if (_safety.isSafetyOff()) {
set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);
} else {
tune_neutral(true);
} else {
tune_neutral(true);
}
}
_status_changed = true;

1
src/modules/commander/Safety.hpp
View File

@ -51,6 +51,7 @@ public:
void activateSafety();
bool isButtonAvailable() { return _button_available; }
bool isSafetyOff() { return _safety_off; }
bool isSafetyDisabled() { return _safety_disabled; }
private:
uORB::Subscription _safety_button_sub{ORB_ID::safety_button};