mkblctrl - rework and bugfix

6 files changed, 197 insertions, 140 deletions

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 8b26bbe7a..927e7f99e 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -333,11 +333,11 @@ then
 		if [ $OUTPUT_MODE == mkblctrl ]
 		then
 			set MKBLCTRL_ARG ""
-			if [ $MK_MODE == x ]
+			if [ $MKBLCTRL_MODE == x ]
 			then
 				set MKBLCTRL_ARG "-mkmode x"
 			fi
-			if [ $MK_MODE == + ]
+			if [ $MKBLCTRL_MODE == + ]
 			then
 				set MKBLCTRL_ARG "-mkmode +"
 			fi
diff --git a/src/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h
index acfcecca1..31aee266e 100644
--- a/src/drivers/drv_tone_alarm.h
+++ b/src/drivers/drv_tone_alarm.h
@@ -151,6 +151,7 @@ enum {
 	TONE_PARACHUTE_RELEASE_TUNE,
 	TONE_EKF_WARNING_TUNE,
 	TONE_BARO_WARNING_TUNE,
+	TONE_SINGLE_BEEP_TUNE,
 	TONE_NUMBER_OF_TUNES
 };
 
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 1331744ae..f3db4dd94 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012-2015 PX4 Development Team. All rights reserved.
  *   Author: Marco Bauer <marco@wtns.de>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -42,8 +42,8 @@
  */
 
 #include <nuttx/config.h>
-
 #include <drivers/device/i2c.h>
+#include <systemlib/param/param.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -67,11 +67,12 @@
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_rc_input.h>
+#include <drivers/drv_mixer.h>
+#include <drivers/drv_tone_alarm.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
 #include <systemlib/mixer/mixer.h>
-#include <drivers/drv_mixer.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_controls_0.h>
@@ -81,17 +82,18 @@
 
 #include <systemlib/err.h>
 
-#define I2C_BUS_SPEED					400000
-#define UPDATE_RATE						400
+#define I2C_BUS_SPEED					100000
+#define UPDATE_RATE						200
 #define MAX_MOTORS 						8
 #define BLCTRL_BASE_ADDR 				0x29
 #define BLCTRL_OLD 						0
 #define BLCTRL_NEW 						1
 #define BLCTRL_MIN_VALUE				-0.920F
 #define MOTOR_STATE_PRESENT_MASK		0x80
-#define MOTOR_STATE_ERROR_MASK		0x7F
+#define MOTOR_STATE_ERROR_MASK			0x7F
 #define MOTOR_SPINUP_COUNTER			30
-#define ESC_UORB_PUBLISH_DELAY		500000
+#define MOTOR_LOCATE_DELAY				10000000
+#define ESC_UORB_PUBLISH_DELAY			500000
 
 struct MotorData_t {
 	unsigned int Version;                        // the version of the BL (0 = old)
@@ -108,6 +110,9 @@ struct MotorData_t {
 	unsigned int RoundCount;
 };
 
+
+
+
 class MK : public device::I2C
 {
 public:
@@ -128,7 +133,6 @@ public:
 	virtual int	init(unsigned motors);
 	virtual ssize_t	write(file *filp, const char *buffer, size_t len);
 
-	int		set_update_rate(unsigned rate);
 	int		set_motor_count(unsigned count);
 	int		set_motor_test(bool motortest);
 	int		set_overrideSecurityChecks(bool overrideSecurityChecks);
@@ -141,7 +145,6 @@ private:
 	static const bool	showDebug = false;
 
 	int 		_update_rate;
-	int 		_current_update_rate;
 	int		_task;
 	int		_t_actuators;
 	int		_t_actuator_armed;
@@ -179,20 +182,17 @@ private:
 
 	int		pwm_ioctl(file *filp, int cmd, unsigned long arg);
 
-	struct GPIOConfig {
-		uint32_t	input;
-		uint32_t	output;
-		uint32_t	alt;
-	};
-
-	static const GPIOConfig	_gpio_tab[];
-	static const unsigned	_ngpio;
 
 	int			mk_servo_arm(bool status);
 	int 		mk_servo_set(unsigned int chan, short val);
-	int 		mk_servo_set_value(unsigned int chan, short val);
 	int 		mk_servo_test(unsigned int chan);
+	int 		mk_servo_locate();
 	short		scaling(float val, float inMin, float inMax, float outMin, float outMax);
+	
+	void		play_beep(int count);
+	bool		_indicate_esc; 
+	param_t		_param_indicate_esc;
+	
 };
 
 
@@ -218,8 +218,8 @@ MK	*g_mk;
 } // namespace
 
 MK::MK(int bus, const char *_device_path) :
-	I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED),
-	_update_rate(400),
+	I2C("mkblctrl", "/dev/mkblctrl0", bus, 0, I2C_BUS_SPEED),
+	_update_rate(UPDATE_RATE),
 	_task(-1),
 	_t_actuators(-1),
 	_t_actuator_armed(-1),
@@ -234,13 +234,15 @@ MK::MK(int bus, const char *_device_path) :
 	_overrideSecurityChecks(false),
 	_task_should_exit(false),
 	_armed(false),
-	_mixers(nullptr)
+	_mixers(nullptr),
+	_indicate_esc(false)
 {
 	strncpy(_device, _device_path, sizeof(_device));
 	/* enforce null termination */
 	_device[sizeof(_device) - 1] = '\0';
 
 	_debug_enabled = true;
+
 }
 
 MK::~MK()
@@ -274,6 +276,8 @@ MK::~MK()
 int
 MK::init(unsigned motors)
 {
+	_param_indicate_esc	= param_find("MKBLCTRL_TEST");
+	
 	_num_outputs = motors;
 	debugCounter = 0;
 	int ret;
@@ -321,16 +325,6 @@ MK::task_main_trampoline(int argc, char *argv[])
 	g_mk->task_main();
 }
 
-int
-MK::set_update_rate(unsigned rate)
-{
-	if ((rate > 500) || (rate < 10))
-		return -EINVAL;
-
-	_update_rate = rate;
-	return OK;
-}
-
 void
 MK::set_px4mode(int px4mode)
 {
@@ -439,16 +433,28 @@ MK::scaling(float val, float inMin, float inMax, float outMin, float outMax)
 }
 
 void
+MK::play_beep(int count)
+{
+	int buzzer = ::open(TONEALARM0_DEVICE_PATH, O_WRONLY);
+	
+	for (int i = 0; i < count; i++) {
+		::ioctl(buzzer, TONE_SET_ALARM, TONE_SINGLE_BEEP_TUNE);
+		usleep(300000);
+	}
+
+	::close(buzzer);
+}
+
+void
 MK::task_main()
 {
+	int32_t param_mkblctrl_test = 0;
 	/*
 	 * Subscribe to the appropriate PWM output topic based on whether we are the
 	 * primary PWM output or not.
 	 */
-	_t_actuators = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
-
-	/* force a reset of the update rate */
-	_current_update_rate = 0;
+	 _t_actuators = orb_subscribe(ORB_ID(actuator_controls_0));
+	orb_set_interval(_t_actuators, 20);		/* default to 50Hz */
 
 	_t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed));
 	orb_set_interval(_t_actuator_armed, 200);		/* 5Hz update rate */
@@ -467,37 +473,26 @@ MK::task_main()
 	_t_esc_status = orb_advertise(ORB_ID(esc_status), &esc);
 
 
-
 	pollfd fds[2];
 	fds[0].fd = _t_actuators;
 	fds[0].events = POLLIN;
 	fds[1].fd = _t_actuator_armed;
 	fds[1].events = POLLIN;
 
+
+	orb_set_interval(_t_actuators, int(1000 / _update_rate));
+	up_pwm_servo_set_rate(_update_rate);
+
 	log("starting");
 
 	/* loop until killed */
 	while (!_task_should_exit) {
 
-		/* handle update rate changes */
-		if (_current_update_rate != _update_rate) {
-			int update_rate_in_ms = int(1000 / _update_rate);
-
-			/* reject faster than 500 Hz updates */
-			if (update_rate_in_ms < 2) {
-				update_rate_in_ms = 2;
-				_update_rate = 500;
-			}
-
-			/* reject slower than 50 Hz updates */
-			if (update_rate_in_ms > 20) {
-				update_rate_in_ms = 20;
-				_update_rate = 50;
-			}
-
-			orb_set_interval(_t_actuators, update_rate_in_ms);
-			up_pwm_servo_set_rate(_update_rate);
-			_current_update_rate = _update_rate;
+		param_get(_param_indicate_esc ,&param_mkblctrl_test);
+		if (param_mkblctrl_test > 0) {
+			_indicate_esc = true;
+		} else {
+			_indicate_esc = false;
 		}
 
 		/* sleep waiting for data max 100ms */
@@ -513,66 +508,69 @@ MK::task_main()
 		/* do we have a control update? */
 		if (fds[0].revents & POLLIN) {
 
-			/* get controls - must always do this to avoid spinning */
-			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
+			bool changed = false;
+			orb_check(_t_actuators, &changed);
 
-			/* can we mix? */
-			if (_mixers != nullptr) {
+			if (changed) {
 
-				/* do mixing */
-				outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs);
-				outputs.timestamp = hrt_absolute_time();
+				/* get controls - must always do this to avoid spinning */
+				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
 
-				/* iterate actuators */
-				for (unsigned int i = 0; i < _num_outputs; i++) {
+				/* can we mix? */
+				if (_mixers != nullptr) {
 
-					/* last resort: catch NaN, INF and out-of-band errors */
-					if (i < outputs.noutputs &&
-					    isfinite(outputs.output[i]) &&
-					    outputs.output[i] >= -1.0f &&
-					    outputs.output[i] <= 1.0f) {
-						/* scale for PWM output 900 - 2100us */
-						/* nothing to do here */
-					} else {
-						/*
-						 * Value is NaN, INF or out of band - set to the minimum value.
-						 * This will be clearly visible on the servo status and will limit the risk of accidentally
-						 * spinning motors. It would be deadly in flight.
-						 */
-						if (outputs.output[i] < -1.0f) {
-							outputs.output[i] = -1.0f;
+					/* do mixing */
+					outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs);
+					outputs.timestamp = hrt_absolute_time();
 
-						} else if (outputs.output[i] > 1.0f) {
-							outputs.output[i] = 1.0f;
+					/* iterate actuators */
+					for (unsigned int i = 0; i < _num_outputs; i++) {
 
+						/* last resort: catch NaN, INF and out-of-band errors */
+						if (i < outputs.noutputs &&
+						    isfinite(outputs.output[i]) &&
+						    outputs.output[i] >= -1.0f &&
+						    outputs.output[i] <= 1.0f) {
+							/* scale for PWM output 900 - 2100us */
+							/* nothing to do here */
 						} else {
-							outputs.output[i] = -1.0f;
+							/*
+							 * Value is NaN, INF or out of band - set to the minimum value.
+							 * This will be clearly visible on the servo status and will limit the risk of accidentally
+							 * spinning motors. It would be deadly in flight.
+							 */
+							if (outputs.output[i] < -1.0f) {
+								outputs.output[i] = -1.0f;
+
+							} else if (outputs.output[i] > 1.0f) {
+								outputs.output[i] = 1.0f;
+
+							} else {
+								outputs.output[i] = -1.0f;
+							}
 						}
-					}
 
-					if (!_overrideSecurityChecks) {
-						/* don't go under BLCTRL_MIN_VALUE */
+						if (!_overrideSecurityChecks) {
+							/* don't go under BLCTRL_MIN_VALUE */
+
+							if (outputs.output[i] < BLCTRL_MIN_VALUE) {
+								outputs.output[i] = BLCTRL_MIN_VALUE;
+							}
 
-						if (outputs.output[i] < BLCTRL_MIN_VALUE) {
-							outputs.output[i] = BLCTRL_MIN_VALUE;
 						}
 
-					}
+						/* output to BLCtrl's */
+						if (_motortest != true && _indicate_esc != true) {
+							Motor[i].SetPoint_PX4 = outputs.output[i];
+							mk_servo_set(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 2047));	// scale the output to 0 - 2047 and sent to output routine
+						}
 
-					/* output to BLCtrl's */
-					if (_motortest != true) {
-						//mk_servo_set_value(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 1024));	// scale the output to 0 - 1024 and sent to output routine
-						// 11 Bit
-						Motor[i].SetPoint_PX4 = outputs.output[i];
-						mk_servo_set(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 2047));	// scale the output to 0 - 2047 and sent to output routine
 					}
 
 				}
-
 			}
 
 
-
 		}
 
 		/* how about an arming update? */
@@ -624,6 +622,11 @@ MK::task_main()
 				if (_motortest == true) {
 					mk_servo_test(i);
 				}
+				
+				// if esc locate is requested
+				if (_indicate_esc == true) {
+					mk_servo_locate();
+				}
 
 			}
 
@@ -834,39 +837,6 @@ MK::mk_servo_set(unsigned int chan, short val)
 	return 0;
 }
 
-int
-MK::mk_servo_set_value(unsigned int chan, short val)
-{
-	_retries = 0;
-	int ret;
-	short tmpVal = 0;
-	uint8_t msg[2] = { 0, 0 };
-
-	tmpVal = val;
-
-	if (tmpVal > 1024) {
-		tmpVal = 1024;
-
-	} else if (tmpVal < 0) {
-		tmpVal = 0;
-	}
-
-	Motor[chan].SetPoint = (uint8_t)(tmpVal / 4);
-
-	if (_armed == false) {
-		Motor[chan].SetPoint = 0;
-		Motor[chan].SetPointLowerBits = 0;
-	}
-
-	msg[0] = Motor[chan].SetPoint;
-
-	set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
-	ret = transfer(&msg[0], 1, nullptr, 0);
-
-	ret = OK;
-	return ret;
-}
-
 
 int
 MK::mk_servo_test(unsigned int chan)
@@ -936,6 +906,39 @@ MK::mk_servo_test(unsigned int chan)
 
 
 int
+MK::mk_servo_locate()
+{
+	int ret = 0;
+	static unsigned int chan = 0;
+	static uint64_t last_timestamp = 0;
+	_retries = 0;
+	uint8_t msg[2] = { 0, 0 };
+
+
+	if (hrt_absolute_time() - last_timestamp > MOTOR_LOCATE_DELAY) {
+		last_timestamp = hrt_absolute_time();
+
+		set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
+		chan++;
+		
+		if (chan <= _num_outputs) {
+			fprintf(stderr, "[mkblctrl] ESC Locate - #%i:\tgreen\n", chan);
+			play_beep(chan);
+		}
+		
+		if (chan > _num_outputs) {
+			chan = 0;
+		}
+	}
+
+	// do i2c transfer to selected esc
+	ret = transfer(&msg[0], 1, nullptr, 0);
+
+	return ret;
+}
+
+
+int
 MK::control_callback(uintptr_t handle,
 		     uint8_t control_group,
 		     uint8_t control_index,
@@ -1130,7 +1133,7 @@ enum FrameType {
 
 
 int
-mk_new_mode(int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks)
+mk_new_mode(int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks)
 {
 	int shouldStop = 0;
 
@@ -1160,8 +1163,6 @@ mk_new_mode(int update_rate, int motorcount, bool motortest, int px4mode, int fr
 
 	g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true, false));
 
-	g_mk->set_update_rate(update_rate);
-
 	return OK;
 }
 
@@ -1178,7 +1179,7 @@ mk_start(unsigned motors, const char *device_path)
 
 	if (OK == g_mk->init(motors)) {
 		warnx("[mkblctrl] scanning i2c3...\n");
-		ret = g_mk->mk_check_for_blctrl(8, false, true);
+		ret = g_mk->mk_check_for_blctrl(8, false, false);
 
 		if (ret > 0) {
 			return OK;
@@ -1196,7 +1197,7 @@ mk_start(unsigned motors, const char *device_path)
 
 	if (OK == g_mk->init(motors)) {
 		warnx("[mkblctrl] scanning i2c1...\n");
-		ret = g_mk->mk_check_for_blctrl(8, false, true);
+		ret = g_mk->mk_check_for_blctrl(8, false, false);
 
 		if (ret > 0) {
 			return OK;
@@ -1217,14 +1218,13 @@ extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]);
 int
 mkblctrl_main(int argc, char *argv[])
 {
-	int pwm_update_rate_in_hz = UPDATE_RATE;
 	int motorcount = 8;
 	int px4mode = MAPPING_PX4;
 	int frametype = FRAME_PLUS;	// + plus is default
 	bool motortest = false;
 	bool overrideSecurityChecks = false;
 	bool showHelp = false;
-	bool newMode = false;
+	bool newMode = true;
 	const char *devicepath = "";
 
 	/*
@@ -1265,6 +1265,7 @@ mkblctrl_main(int argc, char *argv[])
 		/* look for the optional -h --help parameter */
 		if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) {
 			showHelp = true;
+			newMode = false;
 		}
 
 		/* look for the optional --override-security-checks  parameter */
@@ -1311,7 +1312,7 @@ mkblctrl_main(int argc, char *argv[])
 			/* parameter set ? */
 			if (newMode) {
 				/* switch parameter */
-				return mk_new_mode(pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks);
+				return mk_new_mode(motorcount, motortest, px4mode, frametype, overrideSecurityChecks);
 			}
 
 			exit(0);
diff --git a/src/drivers/mkblctrl/mkblctrl_params.c b/src/drivers/mkblctrl/mkblctrl_params.c
new file mode 100644
index 000000000..4296260f8
--- /dev/null
+++ b/src/drivers/mkblctrl/mkblctrl_params.c
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *   Author: Marco Bauer <marco@wtns.de>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mkblctrl_params.c
+ *
+ * Parameters defined by the mkblctrl driver.
+ *
+ * @author Marco Bauer <marco@wtns.de>
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+/**
+ * Enables testmode (Identify) of MKBLCTRL Driver
+ *
+ * @group MKBLCTRL Testmode
+ */
+PARAM_DEFINE_INT32(MKBLCTRL_TEST, 0);
+
diff --git a/src/drivers/mkblctrl/module.mk b/src/drivers/mkblctrl/module.mk
index 6daa14aa5..10468509e 100644
--- a/src/drivers/mkblctrl/module.mk
+++ b/src/drivers/mkblctrl/module.mk
@@ -37,7 +37,8 @@
 
 MODULE_COMMAND		= mkblctrl
 
-SRCS			= mkblctrl.cpp
+SRCS			= mkblctrl.cpp \
+					mkblctrl_params.c
 
 INCLUDE_DIRS		+= $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
 
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index ae533e811..8b6847348 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -338,6 +338,7 @@ ToneAlarm::ToneAlarm() :
 	_default_tunes[TONE_PARACHUTE_RELEASE_TUNE] = "MFT255L16agagagag";			// parachute release
 	_default_tunes[TONE_EKF_WARNING_TUNE] = "MFT255L8ddd#d#eeff";				// ekf warning
 	_default_tunes[TONE_BARO_WARNING_TUNE] = "MFT255L4gf#fed#d";				// baro warning
+	_default_tunes[TONE_SINGLE_BEEP_TUNE] = "MFT100a8";                             // single beep
 
 	_tune_names[TONE_STARTUP_TUNE] = "startup";			// startup tune
 	_tune_names[TONE_ERROR_TUNE] = "error";				// ERROR tone
@@ -352,6 +353,7 @@ ToneAlarm::ToneAlarm() :
 	_tune_names[TONE_PARACHUTE_RELEASE_TUNE] = "parachute_release";	// parachute release
 	_tune_names[TONE_EKF_WARNING_TUNE] = "ekf_warning";				// ekf warning
 	_tune_names[TONE_BARO_WARNING_TUNE] = "baro_warning";			// baro warning
+	_tune_names[TONE_SINGLE_BEEP_TUNE] = "beep";                    // single beep
 }
 
 ToneAlarm::~ToneAlarm()