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Merge branch 'refactoredBeeperCode_181_1' of

Browse source 
git://github.com/ethomas997/cleanflight into
ethomas997-refactoredBeeperCode_181_1

Conflicts:
	src/main/flight/failsafe.c
	src/main/io/beeper.c
	src/main/mw.c
This commit is contained in:
Dominic Clifton 2015-04-23 01:21:27 +02:00
commit 519586a5ce
15 changed files with 487 additions and 194 deletions
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73
src/main/mw.c
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@ -242,6 +242,11 @@ void annexCode(void)
if (feature(FEATURE_VBAT)) {
updateBatteryVoltage();
batteryState = calculateBatteryState();
//handle beepers for battery levels
if (batteryState == BATTERY_CRITICAL)
beeper(BEEPER_BAT_CRIT_LOW); //critically low battery
else if (batteryState == BATTERY_WARNING)
beeper(BEEPER_BAT_LOW); //low battery
}
if (feature(FEATURE_CURRENT_METER)) {
@ -251,7 +256,7 @@ void annexCode(void)
}
}
beepcodeUpdateState(batteryState);
beeperUpdate(); //call periodic beeper handler
if (ARMING_FLAG(ARMED)) {
LED0_ON;
@ -317,6 +322,8 @@ void mwDisarm(void)
finishBlackbox();
}
#endif
beeper(BEEPER_DISARMING); // emit disarm tone
}
}
@ -355,6 +362,16 @@ void mwArm(void)
#endif
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
//beep to indicate arming
#ifdef GPS
if (feature(FEATURE_GPS) && STATE(GPS_FIX) && GPS_numSat >= 5)
beeper(BEEPER_ARMING_GPS_FIX);
else
beeper(BEEPER_ARMING);
#else
beeper(BEEPER_ARMING);
#endif
return;
}
}
@ -380,9 +397,9 @@ void handleInflightCalibrationStickPosition(void)
} else {
AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
if (AccInflightCalibrationArmed) {
queueConfirmationBeep(4);
beeper(BEEPER_ACC_CALIBRATION);
} else {
queueConfirmationBeep(6);
beeper(BEEPER_ACC_CALIBRATION_FAIL);
}
}
}
@ -497,6 +514,8 @@ void executePeriodicTasks(void)
void processRx(void)
{
static bool armedBeeperOn = false;
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
@ -522,18 +541,48 @@ void processRx(void)
pidResetErrorAngle();
pidResetErrorGyro();
}
// When armed and motors aren't spinning, disarm board after delay so users without buzzer won't lose fingers.
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING)
&& masterConfig.auto_disarm_delay != 0
&& isUsingSticksForArming())
{
if (throttleStatus == THROTTLE_LOW) {
if ((int32_t)(disarmAt - millis()) < 0) // delay is over
mwDisarm();
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (masterConfig.auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
mwDisarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (masterConfig.auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeper(BEEPER_STOP);
armedBeeperOn = false;
}
}
} else {
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000; // extend delay
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeper(BEEPER_STOP);
armedBeeperOn = false;
}
}
}