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Implemented new led status proposal

This commit is contained in:
Lorenz Meier 2013-05-09 17:34:00 +02:00
parent 3ec536a876
commit fa1b7388f3
1 changed files with 24 additions and 6 deletions
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30
src/modules/commander/commander.c
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@ -1503,22 +1503,40 @@ int commander_thread_main(int argc, char *argv[])
if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY ||
current_status.state_machine == SYSTEM_STATE_AUTO ||
current_status.state_machine == SYSTEM_STATE_MANUAL)) {
/* armed */
led_toggle(LED_BLUE);
/* armed, solid */
led_on(LED_AMBER);
} else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
/* not armed */
led_toggle(LED_BLUE);
led_toggle(LED_AMBER);
}
/* toggle error led at 5 Hz in HIL mode */
if (hrt_absolute_time() - gps_position.timestamp_position < 2000000) {
/* toggle GPS (blue) led at 1 Hz if GPS present but no lock, make is solid once locked */
if ((hrt_absolute_time() - gps_position.timestamp_position < 2000000)
&& (gps_position.fix_type == GPS_FIX_TYPE_3D)) {
/* GPS lock */
led_on(LED_BLUE);
} else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
/* no GPS lock, but GPS module is aquiring lock */
led_toggle(LED_BLUE);
}
} else {
/* no GPS info, don't light the blue led */
led_off(LED_BLUE);
}
/* toggle GPS led at 5 Hz in HIL mode */
if (current_status.flag_hil_enabled) {
/* hil enabled */
led_toggle(LED_AMBER);
led_toggle(LED_BLUE);
} else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {
/* toggle error (red) at 5 Hz on low battery or error */
led_toggle(LED_AMBER);
led_toggle(LED_BLUE);
} else {
// /* Constant error indication in standby mode without GPS */