diff options
Diffstat (limited to 'src/modules/px4iofirmware/px4io.c')
| -rw-r--r-- | src/modules/px4iofirmware/px4io.c | 14 |
1 files changed, 12 insertions, 2 deletions
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index 349aaac57..14ee9cb40 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -134,6 +134,12 @@ ring_blink(void) { #ifdef GPIO_LED4 + if (/* IO armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) + /* and FMU is armed */ && (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + LED_RING(1); + return; + } + // XXX this led code does have // intentionally a few magic numbers. const unsigned max_brightness = 118; @@ -147,7 +153,11 @@ ring_blink(void) bool on = ((on_counter * 100) / brightness_counter+1) <= ((brightness * 100) / max_brightness+1); - LED_RING(on); + // XXX once led is PWM driven, + // remove the ! in the line below + // to return to the proper breathe + // animation / pattern (currently inverted) + LED_RING(!on); brightness_counter++; if (on) { @@ -349,7 +359,7 @@ user_start(int argc, char *argv[]) heartbeat_blink(); } - ring_blink(); + ring_blink(); check_reboot(); |