Shrinking the main commander file a bit

1 files changed, 66 insertions, 0 deletions

diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h
new file mode 100644
index 000000000..ea96d72a6
--- /dev/null
+++ b/src/modules/commander/commander_helper.h
@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
+ *
+ * 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 commander_helper.h
+ * Commander helper functions definitions
+ */
+
+#ifndef COMMANDER_HELPER_H_
+#define COMMANDER_HELPER_H_
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/vehicle_control_mode.h>
+
+
+bool is_multirotor(const struct vehicle_status_s *current_status);
+bool is_rotary_wing(const struct vehicle_status_s *current_status);
+
+int buzzer_init(void);
+void buzzer_deinit(void);
+
+void tune_error(void);
+void tune_positive(void);
+void tune_neutral(void);
+void tune_negative(void);
+int tune_arm(void);
+int tune_critical_bat(void);
+int tune_low_bat(void);
+
+void tune_stop(void);
+
+#endif /* COMMANDER_HELPER_H_ */