// update - updates led according to timed_updated. Should be called at 50Hz
void ToneAlarm_PX4::update()
{
// exit immediately if we haven't initialised successfully
if (_tonealarm_fd == -1) {
return;
}
// exit if buzzer is not enabled
if (pNotify->buzzer_enabled() == false) {
return;
}
check_cont_tone();
if (AP_Notify::flags.compass_cal_running != flags.compass_cal_running) {
if(AP_Notify::flags.compass_cal_running) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_COMPASS_CALIBRATING_CTS);
play_tone(AP_NOTIFY_PX4_TONE_QUIET_POS_FEEDBACK);
} else {
if(_cont_tone_playing == AP_NOTIFY_PX4_TONE_QUIET_COMPASS_CALIBRATING_CTS) {
stop_cont_tone();
}
}
}
flags.compass_cal_running = AP_Notify::flags.compass_cal_running;
if (AP_Notify::events.compass_cal_canceled) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
return;
}
if (AP_Notify::events.initiated_compass_cal) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
return;
}
if (AP_Notify::events.compass_cal_saved) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_READY_OR_FINISHED);
return;
}
if (AP_Notify::events.compass_cal_failed) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
return;
}
// don't play other tones if compass cal is running
if (AP_Notify::flags.compass_cal_running) {
return;
}
// notify the user when autotune or mission completes
if (AP_Notify::flags.armed && (AP_Notify::events.autotune_complete || AP_Notify::events.mission_complete)) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_READY_OR_FINISHED);
}
//notify the user when autotune fails
if (AP_Notify::flags.armed && (AP_Notify::events.autotune_failed)) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEG_FEEDBACK);
}
// notify the user when a waypoint completes
if (AP_Notify::events.waypoint_complete) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_WP_COMPLETE);
}
// notify the user when their mode change was successful
if (AP_Notify::events.user_mode_change) {
if (AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEU_FEEDBACK);
} else {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
}
}
// notify the user when their mode change failed
if (AP_Notify::events.user_mode_change_failed) {
if (AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEG_FEEDBACK);
} else {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
}
}
// failsafe initiated mode change
if(AP_Notify::events.failsafe_mode_change) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_ATTENTION_NEEDED);
}
// notify the user when arming fails
if (AP_Notify::events.arming_failed) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
}
// notify the user when RC contact is lost
if (flags.failsafe_radio != AP_Notify::flags.failsafe_radio) {
flags.failsafe_radio = AP_Notify::flags.failsafe_radio;
if (flags.failsafe_radio) {
// armed case handled by events.failsafe_mode_change
if (!AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
}
} else {
if (AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_POS_FEEDBACK);
} else {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_POS_FEEDBACK);
}
}
}
// notify the user when pre_arm checks are passing
if (flags.pre_arm_check != AP_Notify::flags.pre_arm_check) {
flags.pre_arm_check = AP_Notify::flags.pre_arm_check;
if (flags.pre_arm_check) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_READY_OR_FINISHED);
}
}
// check if arming status has changed
if (flags.armed != AP_Notify::flags.armed) {
flags.armed = AP_Notify::flags.armed;
if (flags.armed) {
// arming tune
play_tone(AP_NOTIFY_PX4_TONE_QUIET_ARMING_WARNING);
}else{
// disarming tune
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
stop_cont_tone();
}
}
// check if battery status has changed
if (flags.failsafe_battery != AP_Notify::flags.failsafe_battery) {
flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
if (flags.failsafe_battery) {
// battery warning tune
play_tone(AP_NOTIFY_PX4_TONE_LOUD_BATTERY_ALERT_CTS);
}
}
// check parachute release
if (flags.parachute_release != AP_Notify::flags.parachute_release) {
flags.parachute_release = AP_Notify::flags.parachute_release;
if (flags.parachute_release) {
// parachute release warning tune
play_tone(AP_NOTIFY_PX4_TONE_LOUD_ATTENTION_NEEDED);
}
}
// lost vehicle tone
if (flags.vehicle_lost != AP_Notify::flags.vehicle_lost) {
flags.vehicle_lost = AP_Notify::flags.vehicle_lost;
if (flags.vehicle_lost) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_VEHICLE_LOST_CTS);
} else {
stop_cont_tone();
}
}
// waiting to be thrown vehicle tone
if (flags.waiting_for_throw != AP_Notify::flags.waiting_for_throw) {
flags.waiting_for_throw = AP_Notify::flags.waiting_for_throw;
if (flags.waiting_for_throw) {
play_tone(AP_NOTIFY_PX4_TONE_WAITING_FOR_THROW);
} else {
stop_cont_tone();
}
}
if (AP_Notify::events.tune_started) {
play_tone(AP_NOTIFY_PX4_TONE_TUNING_START);
AP_Notify::events.tune_started = 0;
}
if (AP_Notify::events.tune_next) {
// signify which parameter in the set is starting
play_tone(AP_NOTIFY_PX4_TONE_LOUD_1 + (AP_Notify::events.tune_next-1));
AP_Notify::events.tune_next = 0;
}
if (AP_Notify::events.tune_save) {
play_tone(AP_NOTIFY_PX4_TONE_TUNING_SAVE);
AP_Notify::events.tune_save = 0;
}
if (AP_Notify::events.tune_error) {
play_tone(AP_NOTIFY_PX4_TONE_TUNING_ERROR);
AP_Notify::events.tune_error = 0;
}
}
// update - updates led according to timed_updated. Should be called at 50Hz
void ToneAlarm_PX4::update()
{
// exit immediately if we haven't initialised successfully
if (_tonealarm_fd == -1) {
return;
}
check_cont_tone();
// notify the user when autotune or mission completes
if (AP_Notify::flags.armed && (AP_Notify::events.autotune_complete || AP_Notify::events.mission_complete)) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_READY_OR_FINISHED);
}
//notify the user when autotune fails
if (AP_Notify::flags.armed && (AP_Notify::events.autotune_failed)) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEG_FEEDBACK);
}
// notify the user when a waypoint completes
if (AP_Notify::events.waypoint_complete) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_WP_COMPLETE);
}
// notify the user when their mode change was successful
if (AP_Notify::events.user_mode_change) {
if (AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEU_FEEDBACK);
} else {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
}
}
// notify the user when their mode change failed
if (AP_Notify::events.user_mode_change_failed) {
if (AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEG_FEEDBACK);
} else {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
}
}
// failsafe initiated mode change
if(AP_Notify::events.failsafe_mode_change) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_ATTENTION_NEEDED);
}
// notify the user when arming fails
if (AP_Notify::events.arming_failed) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
}
// notify the user when RC contact is lost
if (flags.failsafe_radio != AP_Notify::flags.failsafe_radio) {
flags.failsafe_radio = AP_Notify::flags.failsafe_radio;
if (flags.failsafe_radio) {
// armed case handled by events.failsafe_mode_change
if (!AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
}
} else {
if (AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_POS_FEEDBACK);
} else {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_POS_FEEDBACK);
}
}
}
// notify the user when pre_arm checks are passing
if (flags.pre_arm_check != AP_Notify::flags.pre_arm_check) {
flags.pre_arm_check = AP_Notify::flags.pre_arm_check;
if (flags.pre_arm_check) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_READY_OR_FINISHED);
}
}
// check if arming status has changed
if (flags.armed != AP_Notify::flags.armed) {
flags.armed = AP_Notify::flags.armed;
if (flags.armed) {
// arming tune
play_tone(AP_NOTIFY_PX4_TONE_QUIET_ARMING_WARNING);
}else{
// disarming tune
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
stop_cont_tone();
}
}
// check if battery status has changed
if (flags.failsafe_battery != AP_Notify::flags.failsafe_battery) {
flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
if (flags.failsafe_battery) {
// battery warning tune
play_tone(AP_NOTIFY_PX4_TONE_LOUD_BATTERY_ALERT_CTS);
}
}
// check parachute release
if (flags.parachute_release != AP_Notify::flags.parachute_release) {
flags.parachute_release = AP_Notify::flags.parachute_release;
if (flags.parachute_release) {
// parachute release warning tune
play_tone(AP_NOTIFY_PX4_TONE_LOUD_ATTENTION_NEEDED);
}
}
}