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376aa0052f
1) predefined seqences associated with each flightmode. 2) fixed table with alarm index and assciated led warn/error sequences/repetition rate.
418 lines
19 KiB
C
418 lines
19 KiB
C
/**
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******************************************************************************
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*
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* @file sequences.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Notify module, sequences configuration.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef SEQUENCES_H_
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#define SEQUENCES_H_
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#include <optypes.h>
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#include <pios_notify.h>
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#include <flightstatus.h>
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#include <systemalarms.h>
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#include <pios_helpers.h>
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typedef enum {
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NOTIFY_SEQUENCE_ARMED_FM_MANUAL = 0,
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NOTIFY_SEQUENCE_ARMED_FM_STABILIZED1 = 1,
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NOTIFY_SEQUENCE_ARMED_FM_STABILIZED2 = 2,
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NOTIFY_SEQUENCE_ARMED_FM_STABILIZED3 = 3,
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NOTIFY_SEQUENCE_ARMED_FM_STABILIZED4 = 4,
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NOTIFY_SEQUENCE_ARMED_FM_STABILIZED5 = 5,
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NOTIFY_SEQUENCE_ARMED_FM_STABILIZED6 = 6,
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NOTIFY_SEQUENCE_ARMED_FM_AUTOTUNE = 7,
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NOTIFY_SEQUENCE_ARMED_FM_GPS = 8,
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NOTIFY_SEQUENCE_ARMED_FM_RTH = 9,
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NOTIFY_SEQUENCE_ARMED_FM_LAND = 10,
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NOTIFY_SEQUENCE_ARMED_FM_AUTO = 11,
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NOTIFY_SEQUENCE_ALM_WARN_GPS = 12,
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NOTIFY_SEQUENCE_ALM_ERROR_GPS = 13,
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NOTIFY_SEQUENCE_ALM_WARN_BATTERY = 14,
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NOTIFY_SEQUENCE_ALM_ERROR_BATTERY = 15,
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NOTIFY_SEQUENCE_ALM_MAG = 16,
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NOTIFY_SEQUENCE_ALM_CONFIG = 17,
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NOTIFY_SEQUENCE_DISARMED = 18,
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} NotifySequences;
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typedef struct {
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uint32_t timeBetweenNotifications;
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uint8_t alarmIndex;
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uint8_t warnNotification;
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uint8_t errorNotification;
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} AlarmDefinition_t;
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// consts
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const LedSequence_t notifications[] = {
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[NOTIFY_SEQUENCE_DISARMED] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 1000,
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.time_on = 1000,
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.color = COLOR_BLUE,
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.repeats = 1,
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},
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{
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.time_off = 1000,
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.time_on = 1000,
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.color = COLOR_LIME,
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.repeats = 1,
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},
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{
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.time_off = 1000,
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.time_on = 1000,
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.color = COLOR_RED,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ARMED_FM_MANUAL] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 900,
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.time_on = 100,
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.color = COLOR_YELLOW,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED1] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 900,
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.time_on = 100,
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.color = COLOR_BLUE,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED2] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 100,
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.time_on = 100,
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.color = COLOR_BLUE,
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.repeats = 1,
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},
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{
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.time_off = 700,
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.time_on = 100,
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.color = COLOR_BLUE,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED3] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 100,
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.time_on = 100,
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.color = COLOR_BLUE,
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.repeats = 2,
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},
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{
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.time_off = 500,
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.time_on = 100,
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.color = COLOR_BLUE,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED4] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 900,
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.time_on = 100,
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.color = COLOR_PURPLE,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED5] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 100,
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.time_on = 100,
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.color = COLOR_PURPLE,
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.repeats = 1,
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},
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{
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.time_off = 700,
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.time_on = 100,
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.color = COLOR_BLUE,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED6] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 100,
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.time_on = 100,
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.color = COLOR_PURPLE,
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.repeats = 1,
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},
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{
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.time_off = 100,
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.time_on = 100,
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.color = COLOR_PURPLE,
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.repeats = 1,
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},
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{
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.time_off = 500,
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.time_on = 100,
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.color = COLOR_BLUE,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ARMED_FM_AUTOTUNE] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 800,
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.time_on = 200,
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.color = COLOR_BLUE,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ARMED_FM_GPS] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 800,
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.time_on = 200,
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.color = COLOR_GREEN,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ARMED_FM_RTH] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 100,
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.time_on = 200,
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.color = COLOR_GREEN,
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.repeats = 1,
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},
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{
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.time_off = 500,
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.time_on = 200,
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.color = COLOR_GREEN,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ARMED_FM_LAND] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 100,
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.time_on = 200,
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.color = COLOR_GREEN,
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.repeats = 1,
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},
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{
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.time_off = 100,
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.time_on = 200,
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.color = COLOR_BLUE,
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.repeats = 1,
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},
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{
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.time_off = 100,
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.time_on = 200,
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.color = COLOR_GREEN,
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.repeats = 1,
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},
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{
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.time_off = 100,
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.time_on = 200,
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.color = COLOR_BLUE,
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.repeats = 1,
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},
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{
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.time_off = 100,
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.time_on = 200,
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.color = COLOR_GREEN,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ARMED_FM_AUTO] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 100,
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.time_on = 200,
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.color = COLOR_GREEN,
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.repeats = 2,
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},
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{
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.time_off = 500,
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.time_on = 200,
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.color = COLOR_GREEN,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ALM_WARN_GPS] = {
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.repeats = 2,
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.steps = {
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{
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.time_off = 300,
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.time_on = 300,
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.color = COLOR_ORANGE,
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.repeats = 2,
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},
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{
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.time_off = 300,
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.time_on = 300,
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.color = COLOR_YELLOW,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ALM_ERROR_GPS] = {
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.repeats = 2,
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.steps = {
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{
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.time_off = 300,
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.time_on = 300,
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.color = COLOR_RED,
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.repeats = 2,
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},
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{
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.time_off = 300,
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.time_on = 300,
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.color = COLOR_YELLOW,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ALM_WARN_BATTERY] = {
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.repeats = 1,
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.steps = {
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{
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.time_off = 100,
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.time_on = 100,
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.color = COLOR_ORANGE,
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.repeats = 10,
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},
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},
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},
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[NOTIFY_SEQUENCE_ALM_ERROR_BATTERY] = {
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.repeats = 1,
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.steps = {
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{
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.time_off = 100,
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.time_on = 100,
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.color = COLOR_RED,
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.repeats = 10,
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},
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},
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},
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[NOTIFY_SEQUENCE_ALM_MAG] = {
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.repeats = 1,
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.steps = {
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{
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.time_off = 300,
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.time_on = 300,
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.color = COLOR_RED,
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.repeats = 2,
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},
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{
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.time_off = 300,
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.time_on = 300,
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.color = COLOR_GREEN,
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.repeats = 1,
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},
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},
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},
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[NOTIFY_SEQUENCE_ALM_CONFIG] = {
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.repeats = -1,
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.steps = {
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{
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.time_off = 500,
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.time_on = 100,
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.color = COLOR_RED,
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.repeats = 1,
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},
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},
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},
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};
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const LedSequence_t *flightModeMap[] = {
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[FLIGHTSTATUS_FLIGHTMODE_MANUAL] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_MANUAL],
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[FLIGHTSTATUS_FLIGHTMODE_STABILIZED1] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED1],
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[FLIGHTSTATUS_FLIGHTMODE_STABILIZED2] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED2],
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[FLIGHTSTATUS_FLIGHTMODE_STABILIZED3] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED3],
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[FLIGHTSTATUS_FLIGHTMODE_STABILIZED4] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED4],
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[FLIGHTSTATUS_FLIGHTMODE_STABILIZED5] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED5],
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[FLIGHTSTATUS_FLIGHTMODE_STABILIZED6] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED6],
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[FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_AUTO],
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[FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_AUTOTUNE],
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[FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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[FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOFPV] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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[FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOLOS] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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[FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIONSEW] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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[FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_RTH],
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[FLIGHTSTATUS_FLIGHTMODE_LAND] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_LAND],
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[FLIGHTSTATUS_FLIGHTMODE_POI] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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[FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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};
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const AlarmDefinition_t alarmsMap[] = {
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{
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.timeBetweenNotifications = 10000,
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.alarmIndex = SYSTEMALARMS_ALARM_GPS,
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.warnNotification = NOTIFY_SEQUENCE_ALM_WARN_GPS,
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.errorNotification = NOTIFY_SEQUENCE_ALM_ERROR_GPS,
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},
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{
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.timeBetweenNotifications = 15000,
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.alarmIndex = SYSTEMALARMS_ALARM_MAGNETOMETER,
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.warnNotification = NOTIFY_SEQUENCE_ALM_MAG,
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.errorNotification = NOTIFY_SEQUENCE_ALM_MAG,
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},
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{
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.timeBetweenNotifications = 15000,
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.alarmIndex = SYSTEMALARMS_ALARM_BATTERY,
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.warnNotification = NOTIFY_SEQUENCE_ALM_WARN_BATTERY,
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.errorNotification = NOTIFY_SEQUENCE_ALM_ERROR_BATTERY,
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},
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};
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const uint8_t alarmsMapSize = NELEMENTS(alarmsMap);
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#endif /* SEQUENCES_H_ */
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