diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 23 |
1 files changed, 20 insertions, 3 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 086f291f6..f511f3876 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -739,9 +739,6 @@ int commander_thread_main(int argc, char *argv[]) param_t _param_ef_time_thres = param_find("COM_EF_TIME"); param_t _param_autostart_id = param_find("SYS_AUTOSTART"); - /* welcome user */ - warnx("starting"); - const char *main_states_str[MAIN_STATE_MAX]; main_states_str[MAIN_STATE_MANUAL] = "MANUAL"; main_states_str[MAIN_STATE_ALTCTL] = "ALTCTL"; @@ -1246,6 +1243,7 @@ int commander_thread_main(int argc, char *argv[]) orb_check(safety_sub, &updated); if (updated) { + bool previous_safety_off = safety.safety_off; orb_copy(ORB_ID(safety), safety_sub, &safety); /* disarm if safety is now on and still armed */ @@ -1259,6 +1257,19 @@ int commander_thread_main(int argc, char *argv[]) arming_state_changed = true; } } + + //Notify the user if the status of the safety switch changes + if(safety.safety_switch_available && previous_safety_off != safety.safety_off) { + + if(safety.safety_off) { + set_tune(TONE_NOTIFY_POSITIVE_TUNE); + } + else { + tune_neutral(true); + } + + status_changed = true; + } } /* update vtol vehicle status*/ @@ -1952,6 +1963,12 @@ int commander_thread_main(int argc, char *argv[]) /* reset arm_tune_played when disarmed */ if (!armed.armed || (safety.safety_switch_available && !safety.safety_off)) { + + //Notify the user that it is safe to approach the vehicle + if(arm_tune_played) { + tune_neutral(true); + } + arm_tune_played = false; } |