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Commander: Play startup tune if preflight checks are good, play alarm otherwise

This commit is contained in:
Johan Jansen 2015-03-08 14:50:35 +01:00 committed by Lorenz Meier
parent 6f338eb1b2
commit c5a178a777
2 changed files with 10 additions and 2 deletions
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5
src/drivers/stm32/tone_alarm/tone_alarm.cpp
View File

@ -890,8 +890,9 @@ tone_alarm_main(int argc, char *argv[])
if (argc > 1) {
const char *argv1 = argv[1];
if (!strcmp(argv1, "start"))
play_tune(TONE_STARTUP_TUNE);
if (!strcmp(argv1, "start")) {
play_tune(TONE_STOP_TUNE);
}
if (!strcmp(argv1, "stop"))
play_tune(TONE_STOP_TUNE);

7
src/modules/commander/commander.cpp
View File

@ -1124,6 +1124,13 @@ int commander_thread_main(int argc, char *argv[])
//Run preflight check
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, true);
if(!status.condition_system_sensors_initialized) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
}
else {
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
}
const hrt_abstime commander_boot_timestamp = hrt_absolute_time();
transition_result_t arming_ret;