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Add low throttle beeper

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This commit is contained in:
dragnea 2020-11-14 22:19:50 +02:00
parent be338c0ffc
commit 6d4c369d77
5 changed files with 37 additions and 26 deletions
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1
src/main/cms/cms_menu_navigation.c
View file

@ -132,6 +132,7 @@ static const OSD_Entry cmsx_menuFWLaunchEntries[] =
OSD_SETTING_ENTRY("IDLE THROTTLE", SETTING_NAV_FW_LAUNCH_IDLE_THR),
OSD_SETTING_ENTRY("MOTOR SPINUP TIME", SETTING_NAV_FW_LAUNCH_SPINUP_TIME),
OSD_SETTING_ENTRY("TIMEOUT", SETTING_NAV_FW_LAUNCH_TIMEOUT),
OSD_SETTING_ENTRY("END TRANSITION TIME", SETTING_NAV_FW_LAUNCH_END_TIME),
OSD_SETTING_ENTRY("MAX ALTITUDE", SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE),
OSD_SETTING_ENTRY("CLIMB ANGLE", SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE),
OSD_SETTING_ENTRY("MAX BANK ANGLE", SETTING_NAV_FW_LAUNCH_MAX_ANGLE),

2
src/main/fc/settings.yaml
View file

@ -2337,7 +2337,7 @@ groups:
max: 1000
- name: nav_fw_launch_end_time
description: "Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms]"
default_value: "3000"
default_value: "2000"
field: fw.launch_end_time
min: 0
max: 5000

53
src/main/io/beeper.c
View file

@ -121,6 +121,10 @@ static const uint8_t beep_runtimeCalibrationDone[] = {
static const uint8_t beep_launchModeBeep[] = {
5, 5, 5, 100, BEEPER_COMMAND_STOP
};
// Two short beeps, then one shorter beep. Beeps to show the throttle needs to be raised. Will repeat every second while the throttle is low.
static const uint8_t beep_launchModeLowThrottleBeep[] = {
5, 5, 5, 5, 3, 100, BEEPER_COMMAND_STOP
};
// short beeps
static const uint8_t beep_hardwareFailure[] = {
10, 10, BEEPER_COMMAND_STOP
@ -164,31 +168,32 @@ typedef struct beeperTableEntry_s {
#define BEEPER_ENTRY(a,b,c,d) a,b,c,d
/*static*/ const beeperTableEntry_t beeperTable[] = {
{ BEEPER_ENTRY(BEEPER_RUNTIME_CALIBRATION_DONE, 0, beep_runtimeCalibrationDone, "RUNTIME_CALIBRATION") },
{ BEEPER_ENTRY(BEEPER_HARDWARE_FAILURE , 1, beep_hardwareFailure, "HW_FAILURE") },
{ BEEPER_ENTRY(BEEPER_RX_LOST, 2, beep_txLostBeep, "RX_LOST") },
{ BEEPER_ENTRY(BEEPER_RX_LOST_LANDING, 3, beep_sos, "RX_LOST_LANDING") },
{ BEEPER_ENTRY(BEEPER_DISARMING, 4, beep_disarmBeep, "DISARMING") },
{ BEEPER_ENTRY(BEEPER_ARMING, 5, beep_armingBeep, "ARMING") },
{ BEEPER_ENTRY(BEEPER_ARMING_GPS_FIX, 6, beep_armedGpsFix, "ARMING_GPS_FIX") },
{ BEEPER_ENTRY(BEEPER_BAT_CRIT_LOW, 7, beep_critBatteryBeep, "BAT_CRIT_LOW") },
{ BEEPER_ENTRY(BEEPER_BAT_LOW, 8, beep_lowBatteryBeep, "BAT_LOW") },
{ BEEPER_ENTRY(BEEPER_GPS_STATUS, 9, beep_multiBeeps, "GPS_STATUS") },
{ BEEPER_ENTRY(BEEPER_RX_SET, 10, beep_shortBeep, "RX_SET") },
{ BEEPER_ENTRY(BEEPER_ACTION_SUCCESS, 11, beep_2shortBeeps, "ACTION_SUCCESS") },
{ BEEPER_ENTRY(BEEPER_ACTION_FAIL, 12, beep_2longerBeeps, "ACTION_FAIL") },
{ BEEPER_ENTRY(BEEPER_READY_BEEP, 13, beep_readyBeep, "READY_BEEP") },
{ BEEPER_ENTRY(BEEPER_MULTI_BEEPS, 14, beep_multiBeeps, "MULTI_BEEPS") }, // FIXME having this listed makes no sense since the beep array will not be initialised.
{ BEEPER_ENTRY(BEEPER_DISARM_REPEAT, 15, beep_disarmRepeatBeep, "DISARM_REPEAT") },
{ BEEPER_ENTRY(BEEPER_ARMED, 16, beep_armedBeep, "ARMED") },
{ BEEPER_ENTRY(BEEPER_SYSTEM_INIT, 17, NULL, "SYSTEM_INIT") },
{ BEEPER_ENTRY(BEEPER_USB, 18, NULL, "ON_USB") },
{ BEEPER_ENTRY(BEEPER_LAUNCH_MODE_ENABLED, 19, beep_launchModeBeep, "LAUNCH_MODE") },
{ BEEPER_ENTRY(BEEPER_CAM_CONNECTION_OPEN, 20, beep_camOpenBeep, "CAM_CONNECTION_OPEN") },
{ BEEPER_ENTRY(BEEPER_CAM_CONNECTION_CLOSE, 21, beep_camCloseBeep, "CAM_CONNECTION_CLOSED") },
{ BEEPER_ENTRY(BEEPER_RUNTIME_CALIBRATION_DONE, 0, beep_runtimeCalibrationDone, "RUNTIME_CALIBRATION") },
{ BEEPER_ENTRY(BEEPER_HARDWARE_FAILURE , 1, beep_hardwareFailure, "HW_FAILURE") },
{ BEEPER_ENTRY(BEEPER_RX_LOST, 2, beep_txLostBeep, "RX_LOST") },
{ BEEPER_ENTRY(BEEPER_RX_LOST_LANDING, 3, beep_sos, "RX_LOST_LANDING") },
{ BEEPER_ENTRY(BEEPER_DISARMING, 4, beep_disarmBeep, "DISARMING") },
{ BEEPER_ENTRY(BEEPER_ARMING, 5, beep_armingBeep, "ARMING") },
{ BEEPER_ENTRY(BEEPER_ARMING_GPS_FIX, 6, beep_armedGpsFix, "ARMING_GPS_FIX") },
{ BEEPER_ENTRY(BEEPER_BAT_CRIT_LOW, 7, beep_critBatteryBeep, "BAT_CRIT_LOW") },
{ BEEPER_ENTRY(BEEPER_BAT_LOW, 8, beep_lowBatteryBeep, "BAT_LOW") },
{ BEEPER_ENTRY(BEEPER_GPS_STATUS, 9, beep_multiBeeps, "GPS_STATUS") },
{ BEEPER_ENTRY(BEEPER_RX_SET, 10, beep_shortBeep, "RX_SET") },
{ BEEPER_ENTRY(BEEPER_ACTION_SUCCESS, 11, beep_2shortBeeps, "ACTION_SUCCESS") },
{ BEEPER_ENTRY(BEEPER_ACTION_FAIL, 12, beep_2longerBeeps, "ACTION_FAIL") },
{ BEEPER_ENTRY(BEEPER_READY_BEEP, 13, beep_readyBeep, "READY_BEEP") },
{ BEEPER_ENTRY(BEEPER_MULTI_BEEPS, 14, beep_multiBeeps, "MULTI_BEEPS") }, // FIXME having this listed makes no sense since the beep array will not be initialised.
{ BEEPER_ENTRY(BEEPER_DISARM_REPEAT, 15, beep_disarmRepeatBeep, "DISARM_REPEAT") },
{ BEEPER_ENTRY(BEEPER_ARMED, 16, beep_armedBeep, "ARMED") },
{ BEEPER_ENTRY(BEEPER_SYSTEM_INIT, 17, NULL, "SYSTEM_INIT") },
{ BEEPER_ENTRY(BEEPER_USB, 18, NULL, "ON_USB") },
{ BEEPER_ENTRY(BEEPER_LAUNCH_MODE_ENABLED, 19, beep_launchModeBeep, "LAUNCH_MODE") },
{ BEEPER_ENTRY(BEEPER_LAUNCH_MODE_LOW_THROTTLE, 20, beep_launchModeLowThrottleBeep, "LAUNCH_MODE_LOW_THROTTLE") },
{ BEEPER_ENTRY(BEEPER_CAM_CONNECTION_OPEN, 20, beep_camOpenBeep, "CAM_CONNECTION_OPEN") },
{ BEEPER_ENTRY(BEEPER_CAM_CONNECTION_CLOSE, 21, beep_camCloseBeep, "CAM_CONNECTION_CLOSED") },
{ BEEPER_ENTRY(BEEPER_ALL, 22, NULL, "ALL") },
{ BEEPER_ENTRY(BEEPER_PREFERENCE, 23, NULL, "PREFERED") },
{ BEEPER_ENTRY(BEEPER_ALL, 22, NULL, "ALL") },
{ BEEPER_ENTRY(BEEPER_PREFERENCE, 23, NULL, "PREFERED") },
};
static const beeperTableEntry_t *currentBeeperEntry = NULL;

1
src/main/io/beeper.h
View file

@ -43,6 +43,7 @@ typedef enum {
BEEPER_SYSTEM_INIT, // Initialisation beeps when board is powered on
BEEPER_USB, // Some boards have beeper powered USB connected
BEEPER_LAUNCH_MODE_ENABLED, // Fixed-wing launch mode enabled
BEEPER_LAUNCH_MODE_LOW_THROTTLE,// Fixed-wing launch mode enabled, but throttle is low
BEEPER_CAM_CONNECTION_OPEN, // When the 5 key simulation stated
BEEPER_CAM_CONNECTION_CLOSE, // When the 5 key simulation stop

6
src/main/navigation/navigation_fw_launch.c
View file

@ -390,7 +390,11 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs) {
updateRcCommand();
// Control beeper
beeper(BEEPER_LAUNCH_MODE_ENABLED);
if (fwLaunch.currentState == FW_LAUNCH_STATE_WAIT_THROTTLE) {
beeper(BEEPER_LAUNCH_MODE_LOW_THROTTLE);
} else {
beeper(BEEPER_LAUNCH_MODE_ENABLED);
}
}
void resetFixedWingLaunchController(timeUs_t currentTimeUs) {