diff options
Diffstat (limited to 'apps/commander/commander.c')
-rw-r--r-- | apps/commander/commander.c | 25 |
1 files changed, 24 insertions, 1 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index a7550b54b..d93a48e31 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -360,6 +360,10 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) float *y = malloc(sizeof(float) * calibration_maxcount); float *z = malloc(sizeof(float) * calibration_maxcount); + tune_confirm(); + sleep(2); + tune_confirm(); + while (hrt_absolute_time() < calibration_deadline && calibration_counter < calibration_maxcount) { @@ -504,6 +508,13 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) mavlink_log_info(mavlink_fd, buf); mavlink_log_info(mavlink_fd, "[commander] mag calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ + } else { mavlink_log_info(mavlink_fd, "[commander] mag calibration FAILED (NaN)"); } @@ -607,6 +618,12 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) // sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]); // mavlink_log_info(mavlink_fd, buf); mavlink_log_info(mavlink_fd, "[commander] gyro calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ } else { mavlink_log_info(mavlink_fd, "[commander] gyro calibration FAILED (NaN)"); } @@ -721,6 +738,12 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status) //sprintf(buf, "[commander] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]); //mavlink_log_info(mavlink_fd, buf); mavlink_log_info(mavlink_fd, "[commander] accel calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ } else { mavlink_log_info(mavlink_fd, "[commander] accel calibration FAILED (NaN)"); } @@ -740,7 +763,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta uint8_t result = MAV_RESULT_UNSUPPORTED; /* announce command handling */ - ioctl(buzzer, TONE_SET_ALARM, 1); + tune_confirm(); /* supported command handling start */ |