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Merge pull request #6285 from MrD-RC/autolaunch-low-throttle-indication

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Autolaunch low throttle indication
This commit is contained in:
Konstantin Sharlaimov 2020-11-14 16:22:50 +00:00 • committed by GitHub
commit d4a2971845
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3 changed files with 59 additions and 49 deletions
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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, 21, beep_camOpenBeep, "CAM_CONNECTION_OPEN") },
{ BEEPER_ENTRY(BEEPER_CAM_CONNECTION_CLOSE, 22, beep_camCloseBeep, "CAM_CONNECTION_CLOSED") },
{ BEEPER_ENTRY(BEEPER_ALL, 22, NULL, "ALL") },
{ BEEPER_ENTRY(BEEPER_PREFERENCE, 23, NULL, "PREFERED") },
{ BEEPER_ENTRY(BEEPER_ALL, 23, NULL, "ALL") },
{ BEEPER_ENTRY(BEEPER_PREFERENCE, 24, NULL, "PREFERED") },
};
static const beeperTableEntry_t *currentBeeperEntry = NULL;

49
src/main/io/beeper.h
View file

@ -21,33 +21,34 @@
typedef enum {
// IMPORTANT: these are in priority order, 0 = Highest
BEEPER_SILENCE = 0, // Silence, see beeperSilence()
BEEPER_SILENCE = 0, // Silence, see beeperSilence()
BEEPER_RUNTIME_CALIBRATION_DONE,
BEEPER_HARDWARE_FAILURE, // HW failure
BEEPER_RX_LOST, // Beeps when TX is turned off or signal lost (repeat until TX is okay)
BEEPER_RX_LOST_LANDING, // Beeps SOS when armed and TX is turned off or signal lost (autolanding/autodisarm)
BEEPER_DISARMING, // Beep when disarming the board
BEEPER_ARMING, // Beep when arming the board
BEEPER_ARMING_GPS_FIX, // Beep a special tone when arming the board and GPS has fix
BEEPER_BAT_CRIT_LOW, // Longer warning beeps when battery is critically low (repeats)
BEEPER_BAT_LOW, // Warning beeps when battery is getting low (repeats)
BEEPER_GPS_STATUS, // FIXME **** Disable beeper when connected to USB ****
BEEPER_RX_SET, // Beeps when aux channel is set for beep or beep sequence how many satellites has found if GPS enabled
BEEPER_ACTION_SUCCESS, // Action success (various actions)
BEEPER_ACTION_FAIL, // Action fail (varions actions)
BEEPER_READY_BEEP, // Ring a tone when GPS is locked and ready
BEEPER_MULTI_BEEPS, // Internal value used by 'beeperConfirmationBeeps()'.
BEEPER_DISARM_REPEAT, // Beeps sounded while stick held in disarm position
BEEPER_ARMED, // Warning beeps when board is armed (repeats until board is disarmed or throttle is increased)
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_CAM_CONNECTION_OPEN, // When the 5 key simulation stated
BEEPER_CAM_CONNECTION_CLOSE, // When the 5 key simulation stop
BEEPER_HARDWARE_FAILURE, // HW failure
BEEPER_RX_LOST, // Beeps when TX is turned off or signal lost (repeat until TX is okay)
BEEPER_RX_LOST_LANDING, // Beeps SOS when armed and TX is turned off or signal lost (autolanding/autodisarm)
BEEPER_DISARMING, // Beep when disarming the board
BEEPER_ARMING, // Beep when arming the board
BEEPER_ARMING_GPS_FIX, // Beep a special tone when arming the board and GPS has fix
BEEPER_BAT_CRIT_LOW, // Longer warning beeps when battery is critically low (repeats)
BEEPER_BAT_LOW, // Warning beeps when battery is getting low (repeats)
BEEPER_GPS_STATUS, // FIXME **** Disable beeper when connected to USB ****
BEEPER_RX_SET, // Beeps when aux channel is set for beep or beep sequence how many satellites has found if GPS enabled
BEEPER_ACTION_SUCCESS, // Action success (various actions)
BEEPER_ACTION_FAIL, // Action fail (varions actions)
BEEPER_READY_BEEP, // Ring a tone when GPS is locked and ready
BEEPER_MULTI_BEEPS, // Internal value used by 'beeperConfirmationBeeps()'.
BEEPER_DISARM_REPEAT, // Beeps sounded while stick held in disarm position
BEEPER_ARMED, // Warning beeps when board is armed (repeats until board is disarmed or throttle is increased)
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
BEEPER_ALL, // Turn ON or OFF all beeper conditions
BEEPER_PREFERENCE, // Save preferred beeper configuration
BEEPER_ALL, // Turn ON or OFF all beeper conditions
BEEPER_PREFERENCE, // Save preferred beeper configuration
// BEEPER_ALL and BEEPER_PREFERENCE must remain at the bottom of this enum
} beeperMode_e;

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

@ -226,7 +226,11 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs)
// Control beeper
if (!launchState.launchFinished) {
beeper(BEEPER_LAUNCH_MODE_ENABLED);
if (calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC) != THROTTLE_LOW) {
beeper(BEEPER_LAUNCH_MODE_ENABLED);
} else {
beeper(BEEPER_LAUNCH_MODE_LOW_THROTTLE);
}
}
// Lock out controls