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Code Issues Releases Activity

OP-1302 Fixes for current next. Show flightmode everytime it changes when disarmed

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This commit is contained in:
Alessio Morale 2014-05-08 22:26:12 +02:00
parent e5d6726bb6
commit 94beebc3d0
1 changed files with 56 additions and 34 deletions
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90
flight/libraries/notification.c
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@ -62,9 +62,9 @@
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000001 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000000100001 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000010000100001 : \
x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 0b0000000000100001 : \
x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 0b0000000000100001 : \
x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 0b0000000000100001 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED4 ? 0b0000000000000001 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED5 ? 0b0000000000100001 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED6 ? 0b0000010000100001 : \
x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000010000100001 : \
x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0001000100010001 : \
x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0001000100010001 : \
@ -75,9 +75,9 @@
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000000 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000000000000 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000000000000000 : \
x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 0b0000000000100000 : \
x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 0b0000000000100000 : \
x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 0b0000000000100000 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED4 ? 0b0000000000000001 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED5 ? 0b0000000000000001 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED6 ? 0b0000000000000001 : \
x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000010000000000 : \
x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0001000100000000 : \
x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0001000100000000 : \
@ -85,31 +85,33 @@
x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0000010000000000 : 0b0000010000000000)
#define BLINK_B_FM_DISARMED_PATTERN(x) \
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0001111111111111 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0001111111111111 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0001111111111111 : \
x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 0b0001111111111111 : \
x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 0b0001111111111111 : \
x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 0b0001111111111111 : \
x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0001111111111111 : \
x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0001111111111111 : \
x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0001111111111111 : \
x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0b0001111111111111 : \
x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0001111111111111 : 0b0001111111111111)
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000011 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000001100011 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000110001100011 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED4 ? 0b0000000000000011 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED5 ? 0b0000000001100011 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED6 ? 0b0000110001100011 : \
x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000110001100011 : \
x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0011001100110011 : \
x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0011001100110011 : \
x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0b0000110001100011 : \
x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0000110001100011 : 0b0000000000000011)
#define BLINK_R_FM_DISARMED_PATTERN(x) \
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0 : \
x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 0 : \
x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 0 : \
x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 0 : \
x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0 : \
x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0 : \
x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0 : \
x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0 : \
x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0 : 0)
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000000 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000000000000 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000000000000000 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED4 ? 0b0000000000000011 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED5 ? 0b0000000000000011 : \
x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED6 ? 0b0000000000000011 : \
x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000110000000000 : \
x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0011001100000000 : \
x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0011001100000000 : \
x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0b0000110000000000 : \
x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0000110000000000 : 0b0000110000000000)
#define BLINK_B_HEARTBEAT_PATTERN 0b0001111111111111
#define BLINK_R_HEARTBEAT_PATTERN 0
#define BLINK_B_NOTIFY_PATTERN(x) \
(x == NOTIFY_NONE ? 0 : \
@ -133,8 +135,8 @@ static volatile pios_notify_notification nextNotification = NOTIFY_NONE;
static bool handleAlarms(uint16_t *r_pattern, uint16_t *b_pattern);
#endif // PIOS_LED_ALARM
static bool handleNotifications(pios_notify_notification runningNotification, uint16_t *r_pattern, uint16_t *b_pattern);
static void handleStatus(uint16_t *r_pattern, uint16_t *b_pattern);
static void handleFlightMode(uint16_t *r_pattern, uint16_t *b_pattern);
static void handleHeartbeat(uint16_t *r_pattern, uint16_t *b_pattern);
void NotificationUpdateStatus()
{
started = true;
@ -152,12 +154,13 @@ void NotificationOnboardLedsRun()
static uint16_t r_pattern;
static uint16_t b_pattern;
static uint8_t cycleCount; // count the number of cycles
static uint8_t lastFlightMode = -1;
static bool forceShowFlightMode = false;
static pios_notify_notification runningNotification = NOTIFY_NONE;
static enum {
STATUS_NOTIFY,
STATUS_ALARM,
STATUS_FLIGHTMODE,
STATUS_FLIGHTMODE, // flightMode/HeartBeat
STATUS_LENGHT
} status;
@ -182,6 +185,13 @@ void NotificationOnboardLedsRun()
// Force a notification status
status = STATUS_NOTIFY;
cycleCount = 0; // instantly start a notify cycle
} else {
if (lastFlightMode != currentFlightStatus.FlightMode) {
status = STATUS_FLIGHTMODE;
lastFlightMode = currentFlightStatus.FlightMode;
cycleCount = 0; // instantly start a flightMode cycle
forceShowFlightMode = true;
}
}
// check if a phase has just finished
@ -189,6 +199,7 @@ void NotificationOnboardLedsRun()
HEARTBEAT_LED_OFF();
ALARM_LED_OFF();
cycleCount = 0x0;
forceShowFlightMode = false;
// Notification has been just shown, cleanup
if (status == STATUS_NOTIFY) {
runningNotification = NOTIFY_NONE;
@ -218,7 +229,11 @@ void NotificationOnboardLedsRun()
// **** Handles flightmode display
if (status == STATUS_FLIGHTMODE && !cycleCount) {
handleStatus(&r_pattern, &b_pattern);
if (forceShowFlightMode || currentFlightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) {
handleFlightMode(&r_pattern, &b_pattern);
} else {
handleHeartbeat(&r_pattern, &b_pattern);
}
}
// led output
@ -259,7 +274,7 @@ static bool handleNotifications(pios_notify_notification runningNotification, ui
return true;
}
static void handleStatus(uint16_t *r_pattern, uint16_t *b_pattern)
static void handleFlightMode(uint16_t *r_pattern, uint16_t *b_pattern)
{
// Flash the heartbeat LED
uint8_t flightmode = currentFlightStatus.FlightMode;
@ -272,3 +287,10 @@ static void handleStatus(uint16_t *r_pattern, uint16_t *b_pattern)
*r_pattern = BLINK_R_FM_ARMED_PATTERN(flightmode);
}
}
static void handleHeartbeat(uint16_t *r_pattern, uint16_t *b_pattern)
{
// Flash the heartbeat LED
*b_pattern = BLINK_B_HEARTBEAT_PATTERN;
*r_pattern = BLINK_R_HEARTBEAT_PATTERN;
}