Commander helper functions implementations. More...

#include <px4_defines.h>
#include <px4_posix.h>
#include <stdio.h>
#include <unistd.h>
#include <stdint.h>
#include <stdbool.h>
#include <fcntl.h>
#include <math.h>
#include <string.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/led_control.h>
#include <uORB/topics/tune_control.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
#include "commander_helper.h"
#include "DevMgr.hpp"

Macros
#define	VEHICLE_TYPE_QUADROTOR 2

#define	VEHICLE_TYPE_COAXIAL 3

#define	VEHICLE_TYPE_HELICOPTER 4

#define	VEHICLE_TYPE_HEXAROTOR 13

#define	VEHICLE_TYPE_OCTOROTOR 14

#define	VEHICLE_TYPE_TRICOPTER 15

#define	VEHICLE_TYPE_VTOL_DUOROTOR 19

#define	VEHICLE_TYPE_VTOL_QUADROTOR 20

#define	VEHICLE_TYPE_VTOL_TILTROTOR 21

#define	VEHICLE_TYPE_VTOL_RESERVED2 22

#define	VEHICLE_TYPE_VTOL_RESERVED3 23

#define	VEHICLE_TYPE_VTOL_RESERVED4 24

#define	VEHICLE_TYPE_VTOL_RESERVED5 25

#define	BLINK_MSG_TIME 700000

Functions
bool	is_multirotor (const struct vehicle_status_s *current_status)

bool	is_rotary_wing (const struct vehicle_status_s *current_status)

bool	is_vtol (const struct vehicle_status_s *current_status)

int	buzzer_init ()

void	buzzer_deinit ()

void	set_tune_override (int tune)

void	set_tune (int tune)

void	tune_home_set (bool use_buzzer)

void	tune_mission_ok (bool use_buzzer)

void	tune_mission_fail (bool use_buzzer)

void	tune_positive (bool use_buzzer)
	Blink green LED and play positive tune (if use_buzzer == true).

void	tune_neutral (bool use_buzzer)
	Blink white LED and play neutral tune (if use_buzzer == true).

void	tune_negative (bool use_buzzer)
	Blink red LED and play negative tune (if use_buzzer == true).

void	tune_failsafe (bool use_buzzer)

int	blink_msg_state ()

int	led_init ()
	Ideally we'd be able to get these from up_internal.h, but since we want to be able to disable the NuttX use of leds for system indication at will and there is no separate switch, we need to build independent of the CONFIG_ARCH_LEDS configuration switch.

void	led_deinit ()

int	led_toggle (int led)

int	led_on (int led)

int	led_off (int led)

void	rgbled_set_color_and_mode (uint8_t color, uint8_t mode, uint8_t blinks, uint8_t prio)

void	rgbled_set_color_and_mode (uint8_t color, uint8_t mode)
	set the LED color & mode More...

Detailed Description

Commander helper functions implementations.

Author: Thomas Gubler thoma.nosp@m.sgub.nosp@m.ler@s.nosp@m.tude.nosp@m.nt.et.nosp@m.hz.c.nosp@m.h; Julian Oes julia.nosp@m.n@oe.nosp@m.s.ch; Anton Babushkin anton.nosp@m..bab.nosp@m.ushki.nosp@m.n@me.nosp@m..com

Function Documentation

§ rgbled_set_color_and_mode()

void rgbled_set_color_and_mode	(	uint8_t	color,
		uint8_t	mode
	)

set the LED color & mode

Parameters

color

See also: led_control_s::COLOR_*

Parameters

mode

See also: led_control_s::MODE_*

Macros

Functions

Detailed Description

Function Documentation

§ rgbled_set_color_and_mode()