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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-11 09:13:51 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-11 16:35:05 +0100 |
| commit | 0613b299c033c21e1ddcbd8faeb9d3430d72386c (patch) | |
| tree | adcef0ea206adfa25e3a1ffed85cc578ff5776bf /src | |
| parent | 855944fb2eab33074537b5ccfc82e2462b662b5b (diff) | |
| download | px4-firmware-0613b299c033c21e1ddcbd8faeb9d3430d72386c.tar.gz px4-firmware-0613b299c033c21e1ddcbd8faeb9d3430d72386c.tar.bz2 px4-firmware-0613b299c033c21e1ddcbd8faeb9d3430d72386c.zip | |
commander: play warning tune (as for low battery) when in failsafe state
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/commander.cpp | 15 |
1 files changed, 6 insertions, 9 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 193a7473e..20bfca477 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1311,14 +1311,14 @@ int commander_thread_main(int argc, char *argv[]) /* play tune when armed */ set_tune(TONE_ARMING_WARNING_TUNE); - } else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW) { - /* play tune on battery warning */ - set_tune(TONE_BATTERY_WARNING_SLOW_TUNE); - } else if (status.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) { /* play tune on battery critical */ set_tune(TONE_BATTERY_WARNING_FAST_TUNE); + } else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW || status.failsafe_state != FAILSAFE_STATE_NORMAL) { + /* play tune on battery warning or failsafe */ + set_tune(TONE_BATTERY_WARNING_SLOW_TUNE); + } else if (battery_tune_played) { set_tune(TONE_STOP_TUNE); battery_tune_played = false; @@ -1420,11 +1420,8 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a if (set_normal_color) { /* set color */ - if (status->battery_warning != VEHICLE_BATTERY_WARNING_NONE) { - if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW) { - rgbled_set_color(RGBLED_COLOR_AMBER); - } - + if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status->failsafe_state != FAILSAFE_STATE_NORMAL) { + rgbled_set_color(RGBLED_COLOR_AMBER); /* VEHICLE_BATTERY_WARNING_CRITICAL handled as ARMING_STATE_ARMED_ERROR / ARMING_STATE_STANDBY_ERROR */ } else { |