From e3e7fc284dd8db6946a07d7051405c9673b631c9 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 3 Apr 2014 22:03:12 +0900
Subject: [PATCH] Notify: add parachute release tune for Pixhawk
---
libraries/AP_Notify/AP_Notify.h | 1 +
libraries/AP_Notify/ToneAlarm_PX4.cpp | 12 +++++++++++-
libraries/AP_Notify/ToneAlarm_PX4.h | 1 +
3 files changed, 13 insertions(+), 1 deletion(-)
diff --git a/libraries/AP_Notify/AP_Notify.h b/libraries/AP_Notify/AP_Notify.h
index 5c76e0425..70cbf07aa 100644
--- a/libraries/AP_Notify/AP_Notify.h
+++ b/libraries/AP_Notify/AP_Notify.h
@@ -43,6 +43,7 @@ public:
uint16_t failsafe_battery : 1; // 1 if battery failsafe
uint16_t failsafe_gps : 1; // 1 if gps failsafe
uint16_t arming_failed : 1; // 1 if copter failed to arm after user input
+ uint16_t parachute_release : 1; // 1 if parachute is being released
// additional flags
uint16_t external_leds : 1; // 1 if external LEDs are enabled (normally only used for copter)
diff --git a/libraries/AP_Notify/ToneAlarm_PX4.cpp b/libraries/AP_Notify/ToneAlarm_PX4.cpp
index 4f860180f..17e39c012 100644
--- a/libraries/AP_Notify/ToneAlarm_PX4.cpp
+++ b/libraries/AP_Notify/ToneAlarm_PX4.cpp
@@ -64,7 +64,8 @@ void ToneAlarm_PX4::update()
if (_tonealarm_fd == -1) {
return;
}
-
+
+ // check for arming failure
if(flags.arming_failed != AP_Notify::flags.arming_failed) {
flags.arming_failed = AP_Notify::flags.arming_failed;
if(flags.arming_failed) {
@@ -110,6 +111,15 @@ void ToneAlarm_PX4::update()
play_tune(TONE_GPS_WARNING_TUNE);
}
}
+
+ // check parachute release
+ if (flags.parachute_release != AP_Notify::flags.parachute_release) {
+ flags.parachute_release = AP_Notify::flags.parachute_release;
+ if (flags.parachute_release) {
+ // parachute release warning tune
+ play_tune(TONE_PARACHUTE_RELEASE_TUNE);
+ }
+ }
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
diff --git a/libraries/AP_Notify/ToneAlarm_PX4.h b/libraries/AP_Notify/ToneAlarm_PX4.h
index 2a353898f..ac5514424 100644
--- a/libraries/AP_Notify/ToneAlarm_PX4.h
+++ b/libraries/AP_Notify/ToneAlarm_PX4.h
@@ -42,6 +42,7 @@ private:
uint8_t gps_glitching : 1; // 1 if gps position is not good
uint8_t failsafe_gps : 1; // 1 if gps failsafe
uint8_t arming_failed : 1; // 0 = failing checks, 1 = passed
+ uint8_t parachute_release : 1; // 1 if parachute is being released
} flags;
};
--
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