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New blink patterns for safety switch, removed GPS lock indicator

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This commit is contained in:
Lorenz Meier
2013-05-09 17:38:12 +02:00
parent fa1b7388f3
commit 26efba2ff3
3 changed files with 5 additions and 16 deletions
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11
src/drivers/px4io/px4io.cpp
View File

@@ -502,8 +502,7 @@ PX4IO::init()
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING,
PX4IO_P_SETUP_ARMING_ARM_OK |
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0);
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
/* publish RC config to IO */
ret = io_set_rc_config();
@@ -707,11 +706,6 @@ PX4IO::io_set_arming_state()
} else {
clear |= PX4IO_P_SETUP_ARMING_ARM_OK;
}
if (vstatus.flag_vector_flight_mode_ok) {
set |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;
}
if (vstatus.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
} else {
@@ -1309,11 +1303,10 @@ PX4IO::print_status()
/* setup and state */
printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES));
uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
printf("arming 0x%04x%s%s%s%s\n",
printf("arming 0x%04x%s%s%s\n",
arming,
((arming & PX4IO_P_SETUP_ARMING_ARM_OK) ? " ARM_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) ? " VECTOR_FLIGHT_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""));
printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),

1
src/modules/px4iofirmware/protocol.h
View File

@@ -147,7 +147,6 @@
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */
#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */
#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) /* OK to perform position / vector control (= position lock) */
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */

9
src/modules/px4iofirmware/safety.c
View File

@@ -56,11 +56,10 @@ static unsigned counter = 0;
/*
* Define the various LED flash sequences for each system state.
*/
#define LED_PATTERN_SAFE 0xffff /**< always on */
#define LED_PATTERN_VECTOR_FLIGHT_MODE_OK 0xFFFE /**< always on with short break */
#define LED_PATTERN_FMU_ARMED 0x4444 /**< slow blinking */
#define LED_PATTERN_SAFE 0x000f /**< always on */
#define LED_PATTERN_FMU_ARMED 0x5555 /**< slow blinking */
#define LED_PATTERN_IO_ARMED 0x5555 /**< fast blinking */
#define LED_PATTERN_IO_FMU_ARMED 0x5050 /**< long off then double blink */
#define LED_PATTERN_IO_FMU_ARMED 0xffff /**< long off then double blink */
static unsigned blink_counter = 0;
@@ -151,8 +150,6 @@ safety_check_button(void *arg)
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
pattern = LED_PATTERN_FMU_ARMED;
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) {
pattern = LED_PATTERN_VECTOR_FLIGHT_MODE_OK;
}
/* Turn the LED on if we have a 1 at the current bit position */