diff options
| author | Julian Oes <julian@oes.ch> | 2013-06-25 14:45:27 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-25 14:45:27 +0200 |
| commit | 9ce2b62eb57b519348c4b2fcd58af09999e504e7 (patch) | |
| tree | bcfbf8304f18cc0ba5d24a23577f0fdd0a48a6bf | |
| parent | a6ba7e448586c556009132887503e6830c20029e (diff) | |
| download | px4-firmware-9ce2b62eb57b519348c4b2fcd58af09999e504e7.tar.gz px4-firmware-9ce2b62eb57b519348c4b2fcd58af09999e504e7.tar.bz2 px4-firmware-9ce2b62eb57b519348c4b2fcd58af09999e504e7.zip | |
Beep when arming or disarming with RC
| -rw-r--r-- | src/modules/commander/commander.c | 16 |
1 files changed, 9 insertions, 7 deletions
diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index 4c884aed3..4a5eb23ad 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -2033,9 +2033,11 @@ int commander_thread_main(int argc, char *argv[]) (current_status.system_type == VEHICLE_TYPE_OCTOROTOR) ) { arming_state_transition(status_pub, ¤t_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, ¤t_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; |