diff options
| -rw-r--r-- | apps/px4io/safety.c | 25 |
1 files changed, 23 insertions, 2 deletions
diff --git a/apps/px4io/safety.c b/apps/px4io/safety.c index d5bd103c1..761a1e1e7 100644 --- a/apps/px4io/safety.c +++ b/apps/px4io/safety.c @@ -60,6 +60,11 @@ static struct hrt_call failsafe_call; */ static unsigned counter; +/* + * Used to coordinate a special blink pattern wheb both the FMU and IO are armed. + */ +static unsigned blink_count = 0; + #define ARM_COUNTER_THRESHOLD 10 #define DISARM_COUNTER_THRESHOLD 2 @@ -120,9 +125,25 @@ safety_check_button(void *arg) counter = 0; } - /* when armed, toggle the LED; when safe, leave it on */ + /* + * When the IO is armed, toggle the LED; when IO and FMU armed use aircraft like + * pattern (long pause then 2 fast blinks); when safe, leave it on. + */ if (system_state.armed) { - safety_led_state = !safety_led_state; + if (system_state.arm_ok) { + /* FMU and IO are armed */ + if (blink_count > 9) { + safety_led_state = !safety_led_state; + } else { + safety_led_state = false; + } + if (blink_count++ == 12) { + blink_count = 0; + } + } else { + /* Only the IO is armed so use a constant blink rate */ + safety_led_state = !safety_led_state; + } } else { safety_led_state = true; } |