diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-09 17:34:00 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-09 17:34:00 +0200 |
| commit | fa1b7388f3485d8c7af42607b154f529d43153ea (patch) | |
| tree | 864eba12667ad46619a8246cd426cc1488f5db37 /src | |
| parent | 3ec536a876a66f4e56549957e81ed4547c92a0c3 (diff) | |
| download | px4-firmware-fa1b7388f3485d8c7af42607b154f529d43153ea.tar.gz px4-firmware-fa1b7388f3485d8c7af42607b154f529d43153ea.tar.bz2 px4-firmware-fa1b7388f3485d8c7af42607b154f529d43153ea.zip | |
Implemented new led status proposal
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/commander.c | 30 |
1 files changed, 24 insertions, 6 deletions
diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index 01ab9e3d9..cd2ef8137 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -1503,22 +1503,40 @@ int commander_thread_main(int argc, char *argv[]) if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY || current_status.state_machine == SYSTEM_STATE_AUTO || current_status.state_machine == SYSTEM_STATE_MANUAL)) { - /* armed */ - led_toggle(LED_BLUE); + /* armed, solid */ + led_on(LED_AMBER); } else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { /* not armed */ - led_toggle(LED_BLUE); + led_toggle(LED_AMBER); + } + + if (hrt_absolute_time() - gps_position.timestamp_position < 2000000) { + + /* toggle GPS (blue) led at 1 Hz if GPS present but no lock, make is solid once locked */ + if ((hrt_absolute_time() - gps_position.timestamp_position < 2000000) + && (gps_position.fix_type == GPS_FIX_TYPE_3D)) { + /* GPS lock */ + led_on(LED_BLUE); + + } else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + /* no GPS lock, but GPS module is aquiring lock */ + led_toggle(LED_BLUE); + } + + } else { + /* no GPS info, don't light the blue led */ + led_off(LED_BLUE); } - /* toggle error led at 5 Hz in HIL mode */ + /* toggle GPS led at 5 Hz in HIL mode */ if (current_status.flag_hil_enabled) { /* hil enabled */ - led_toggle(LED_AMBER); + led_toggle(LED_BLUE); } else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) { /* toggle error (red) at 5 Hz on low battery or error */ - led_toggle(LED_AMBER); + led_toggle(LED_BLUE); } else { // /* Constant error indication in standby mode without GPS */ |