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commander: tunes cleanup and fixes

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This commit is contained in:
Anton Babushkin
2014-02-11 18:24:20 +01:00
parent 0613b299c0
commit 0ead560059
2 changed files with 18 additions and 23 deletions
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src/modules/commander/commander.cpp
+3 -6
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@@ -607,7 +607,6 @@ int commander_thread_main(int argc, char *argv[])
/* not yet initialized */
commander_initialized = false;
bool battery_tune_played = false;
bool arm_tune_played = false;
/* set parameters */
@@ -1020,14 +1019,12 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY");
status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
status_changed = true;
battery_tune_played = false;
} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
/* critical battery voltage, this is rather an emergency, change state machine */
critical_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY");
status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
battery_tune_played = false;
if (armed.armed) {
arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed);
@@ -1310,6 +1307,7 @@ int commander_thread_main(int argc, char *argv[])
if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available && safety.safety_off))) {
/* play tune when armed */
set_tune(TONE_ARMING_WARNING_TUNE);
arm_tune_played = true;
} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) {
/* play tune on battery critical */
@@ -1319,13 +1317,12 @@ int commander_thread_main(int argc, char *argv[])
/* play tune on battery warning or failsafe */
set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
} else if (battery_tune_played) {
} else {
set_tune(TONE_STOP_TUNE);
battery_tune_played = false;
}
/* reset arm_tune_played when disarmed */
if (status.arming_state != ARMING_STATE_ARMED || (safety.safety_switch_available && !safety.safety_off)) {
if (!armed.armed || (safety.safety_switch_available && !safety.safety_off)) {
arm_tune_played = false;
}