diff options
| -rw-r--r-- | apps/commander/commander.c | 21 |
1 files changed, 13 insertions, 8 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 50d0a7f13..a3dccfd73 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -137,6 +137,7 @@ int commander_thread_main(int argc, char *argv[]); static int buzzer_init(void); static void buzzer_deinit(void); +static void tune_confirm(); static int led_init(void); static void led_deinit(void); static int led_toggle(int led); @@ -257,6 +258,10 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u return 0; } +void tune_confirm() { + ioctl(buzzer, TONE_SET_ALARM, 3); +} + static const char *parameter_file = "/eeprom/parameters"; static int pm_save_eeprom(bool only_unsaved) @@ -364,7 +369,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) char buf[50]; sprintf(buf, "[commander] Please rotate around %c", axislabels[axis_index]); mavlink_log_info(mavlink_fd, buf); - ioctl(buzzer, TONE_SET_ALARM, 2); + tune_confirm(); axis_deadline += calibration_interval / 3; } @@ -838,10 +843,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { mavlink_log_info(mavlink_fd, "[commander] CMD starting gyro calibration"); - ioctl(buzzer, TONE_SET_ALARM, 2); + tune_confirm(); do_gyro_calibration(status_pub, ¤t_status); mavlink_log_info(mavlink_fd, "[commander] CMD finished gyro calibration"); - ioctl(buzzer, TONE_SET_ALARM, 2); + tune_confirm(); do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); result = MAV_RESULT_ACCEPTED; } else { @@ -858,10 +863,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { mavlink_log_info(mavlink_fd, "[commander] CMD starting mag calibration"); - ioctl(buzzer, TONE_SET_ALARM, 2); + tune_confirm(); do_mag_calibration(status_pub, ¤t_status); mavlink_log_info(mavlink_fd, "[commander] CMD finished mag calibration"); - ioctl(buzzer, TONE_SET_ALARM, 2); + tune_confirm(); do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); result = MAV_RESULT_ACCEPTED; } else { @@ -878,9 +883,9 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { mavlink_log_info(mavlink_fd, "[commander] CMD starting accel calibration"); - ioctl(buzzer, TONE_SET_ALARM, 2); + tune_confirm(); do_accel_calibration(status_pub, ¤t_status); - ioctl(buzzer, TONE_SET_ALARM, 2); + tune_confirm(); mavlink_log_info(mavlink_fd, "[commander] CMD finished accel calibration"); do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); result = MAV_RESULT_ACCEPTED; @@ -1273,7 +1278,7 @@ int commander_thread_main(int argc, char *argv[]) } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) { /* For less than 20%, start be slightly annoying at 1 Hz */ ioctl(buzzer, TONE_SET_ALARM, 0); - ioctl(buzzer, TONE_SET_ALARM, 2); + tune_confirm(); } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) { ioctl(buzzer, TONE_SET_ALARM, 0); |