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| author | Johan Jansen <jnsn.johan@gmail.com> | 2015-03-08 14:50:35 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-20 09:14:12 +0200 |
| commit | c5a178a777c29f72e8d6ec6e9fc0623515aa4773 (patch) | |
| tree | c5c17235803e61ce6668ebe3baf51a9f680b3d1c /src/modules | |
| parent | 6f338eb1b205a124dab28b61a99b65e9950eb6a8 (diff) | |
| download | px4-firmware-c5a178a777c29f72e8d6ec6e9fc0623515aa4773.tar.gz px4-firmware-c5a178a777c29f72e8d6ec6e9fc0623515aa4773.tar.bz2 px4-firmware-c5a178a777c29f72e8d6ec6e9fc0623515aa4773.zip | |
Commander: Play startup tune if preflight checks are good, play alarm otherwise
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/commander/commander.cpp | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index de2355e04..bf17a7b31 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1124,6 +1124,13 @@ int commander_thread_main(int argc, char *argv[]) //Run preflight check status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, true); + if(!status.condition_system_sensors_initialized) { + set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune + } + else { + set_tune_override(TONE_STARTUP_TUNE); //normal boot tune + } + const hrt_abstime commander_boot_timestamp = hrt_absolute_time(); transition_result_t arming_ret; |