commander: tunes cleanup and fixes

2 files changed, 18 insertions, 23 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 20bfca477..7284b38c9 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -607,7 +607,6 @@ int commander_thread_main(int argc, char *argv[])
 	/* not yet initialized */
 	commander_initialized = false;
 
-	bool battery_tune_played = false;
 	bool arm_tune_played = false;
 
 	/* set parameters */
@@ -1020,14 +1019,12 @@ int commander_thread_main(int argc, char *argv[])
 			mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY");
 			status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
 			status_changed = true;
-			battery_tune_played = false;
 
 		} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
 			/* critical battery voltage, this is rather an emergency, change state machine */
 			critical_battery_voltage_actions_done = true;
 			mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY");
 			status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
-			battery_tune_played = false;
 
 			if (armed.armed) {
 				arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed);
@@ -1310,6 +1307,7 @@ int commander_thread_main(int argc, char *argv[])
 		if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available && safety.safety_off))) {
 			/* play tune when armed */
 			set_tune(TONE_ARMING_WARNING_TUNE);
+			arm_tune_played = true;
 
 		} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) {
 			/* play tune on battery critical */
@@ -1319,13 +1317,12 @@ int commander_thread_main(int argc, char *argv[])
 			/* play tune on battery warning or failsafe */
 			set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
 
-		} else if (battery_tune_played) {
+		} else {
 			set_tune(TONE_STOP_TUNE);
-			battery_tune_played = false;
 		}
 
 		/* reset arm_tune_played when disarmed */
-		if (status.arming_state != ARMING_STATE_ARMED || (safety.safety_switch_available && !safety.safety_off)) {
+		if (!armed.armed || (safety.safety_switch_available && !safety.safety_off)) {
 			arm_tune_played = false;
 		}
 
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index 265c0134c..fe6c9bfaa 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -82,20 +82,20 @@ bool is_rotary_wing(const struct vehicle_status_s *current_status)
 	       || (current_status->system_type == VEHICLE_TYPE_COAXIAL);
 }
 
-static int buzzer;
+static int buzzer = -1;
 static hrt_abstime blink_msg_end = 0;	// end time for currently blinking LED message, 0 if no blink message
 static hrt_abstime tune_end = 0;		// end time of currently played tune, 0 for repeating tunes or silence
-static int tune_current = 0;		// currently playing tune, can be interrupted after tune_end
-static int tune_durations[TONE_NUMBER_OF_TUNES];
+static int tune_current = TONE_STOP_TUNE;		// currently playing tune, can be interrupted after tune_end
+static unsigned int tune_durations[TONE_NUMBER_OF_TUNES];
 
 int buzzer_init()
 {
 	tune_end = 0;
 	tune_current = 0;
 	memset(tune_durations, 0, sizeof(tune_durations));
-	tune_durations[TONE_NOTIFY_POSITIVE_TUNE] = 700000;
-	tune_durations[TONE_NOTIFY_NEGATIVE_TUNE] = 700000;
-	tune_durations[TONE_NOTIFY_NEUTRAL_TUNE] = 700000;
+	tune_durations[TONE_NOTIFY_POSITIVE_TUNE] = 800000;
+	tune_durations[TONE_NOTIFY_NEGATIVE_TUNE] = 900000;
+	tune_durations[TONE_NOTIFY_NEUTRAL_TUNE] = 500000;
 	tune_durations[TONE_ARMING_WARNING_TUNE] = 3000000;
 
 	buzzer = open(TONEALARM_DEVICE_PATH, O_WRONLY);
@@ -105,8 +105,6 @@ int buzzer_init()
 		return ERROR;
 	}
 
-	ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE);
-
 	return OK;
 }
 
@@ -116,15 +114,15 @@ void buzzer_deinit()
 }
 
 void set_tune(int tune) {
-	int new_tune_duration = tune_durations[tune];
+	unsigned int new_tune_duration = tune_durations[tune];
 	/* don't interrupt currently playing non-repeating tune by repeating */
-	if (tune_end == 0 || new_tune_duration > 0 || hrt_absolute_time() > tune_end) {
+	if (tune_end == 0 || new_tune_duration != 0 || hrt_absolute_time() > tune_end) {
 		/* allow interrupting current non-repeating tune by the same tune */
-		if (tune != tune_current || new_tune_duration > 0) {
+		if (tune != tune_current || new_tune_duration != 0) {
 			ioctl(buzzer, TONE_SET_ALARM, tune);
 		}
 		tune_current = tune;
-		if (new_tune_duration > 0) {
+		if (new_tune_duration != 0) {
 			tune_end = hrt_absolute_time() + new_tune_duration;
 		} else {
 			tune_end = 0;
@@ -133,7 +131,7 @@ void set_tune(int tune) {
 }
 
 /**
- * Blink green LED and play positive tune (if use_busser == true).
+ * Blink green LED and play positive tune (if use_buzzer == true).
  */
 void tune_positive(bool use_buzzer)
 {
@@ -146,7 +144,7 @@ void tune_positive(bool use_buzzer)
 }
 
 /**
- * Blink white LED and play neutral tune (if use_busser == true).
+ * Blink white LED and play neutral tune (if use_buzzer == true).
  */
 void tune_neutral(bool use_buzzer)
 {
@@ -159,7 +157,7 @@ void tune_neutral(bool use_buzzer)
 }
 
 /**
- * Blink red LED and play negative tune (if use_busser == true).
+ * Blink red LED and play negative tune (if use_buzzer == true).
  */
 void tune_negative(bool use_buzzer)
 {
@@ -185,8 +183,8 @@ int blink_msg_state()
 	}
 }
 
-static int leds;
-static int rgbleds;
+static int leds = -1;
+static int rgbleds = -1;
 
 int led_init()
 {