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Notify: OreoLED fast startup with solid green 

For manual flight modes: Solid white in front, red in rear
For automatic flight modes: Breathing white in front, red in rear
Loss of RC: Alternating red/black in front and rear

merge with fast green
mission-4.1.18
Jace A Mogill 10 years ago committed by Randy Mackay
parent
778edfda72
commit
442d07a6c9
2 changed files with 47 additions and 52 deletions
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  1. 1
      libraries/AP_Notify/AP_Notify.h
  2. 98
      libraries/AP_Notify/OreoLED_PX4.cpp

1
libraries/AP_Notify/AP_Notify.h
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@ -71,6 +71,7 @@ public:
uint32_t failsafe_gps : 1; // 1 if gps failsafe uint32_t failsafe_gps : 1; // 1 if gps failsafe
uint32_t parachute_release : 1; // 1 if parachute is being released uint32_t parachute_release : 1; // 1 if parachute is being released
uint32_t ekf_bad : 1; // 1 if ekf is reporting problems uint32_t ekf_bad : 1; // 1 if ekf is reporting problems
uint32_t autopilot_mode : 1; // 1 if vehicle is in an autopilot flight mode (only used by OreoLEDs)
// additional flags // additional flags
uint32_t external_leds : 1; // 1 if external LEDs are enabled (normally only used for copter) uint32_t external_leds : 1; // 1 if external LEDs are enabled (normally only used for copter)

98
libraries/AP_Notify/OreoLED_PX4.cpp
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@ -78,6 +78,9 @@ void OreoLED_PX4::update()
static uint8_t counter = 0; // counter to reduce rate from 50hz to 10hz static uint8_t counter = 0; // counter to reduce rate from 50hz to 10hz
static uint8_t step = 0; // step to control pattern static uint8_t step = 0; // step to control pattern
static uint8_t last_stage = 0; // unique id of the last messages sent to the LED, used to reduce resends which disrupt some patterns static uint8_t last_stage = 0; // unique id of the last messages sent to the LED, used to reduce resends which disrupt some patterns
static uint8_t initialization_done = 0; // Keep track if initialization has begun. There is a period when the driver
// is running but initialization has not yet begun -- this prevents post-initialization
// LED patterns from displaying before initialization has completed.
uint8_t brightness = OREOLED_BRIGHT; uint8_t brightness = OREOLED_BRIGHT;
// return immediately if not healthy // return immediately if not healthy
@ -110,26 +113,15 @@ void OreoLED_PX4::update()
step = 0; step = 0;
} }
// Pre-initialization pattern is all solid green
if (!initialization_done) {
set_rgb(OREOLED_ALL_INSTANCES, 0, brightness, 0);
}
// initialising pattern // initialising pattern
if (AP_Notify::flags.initialising) { if (AP_Notify::flags.initialising) {
if (step & 1) { initialization_done = 1; // Record initialization has begun
// left side on last_stage = 1; // record stage
set_rgb(OREOLED_FRONTLEFT, brightness, brightness, brightness); // white
set_rgb(OREOLED_BACKLEFT, brightness, 0, 0); // red
// right side off
set_rgb(OREOLED_FRONTRIGHT, 0, 0, 0);
set_rgb(OREOLED_BACKRIGHT, 0, 0, 0);
} else {
// left side off
set_rgb(OREOLED_FRONTLEFT, 0, 0, 0);
set_rgb(OREOLED_BACKLEFT, 0, 0, 0);
// right side on
set_rgb(OREOLED_FRONTRIGHT, brightness, brightness, brightness); // white
set_rgb(OREOLED_BACKRIGHT, brightness, 0, 0); // red
}
// record stage
last_stage = 1;
// exit so no other status modify this pattern // exit so no other status modify this pattern
return; return;
@ -170,41 +162,30 @@ void OreoLED_PX4::update()
return; return;
} }
// radio and battery failsafe patter: flash yellow // radio failsafe pattern: Alternate between front red/rear black and front black/rear red
// gps failsafe pattern : flashing yellow and blue if (AP_Notify::flags.failsafe_radio) {
// baro glitching pattern : flashing yellow and purple
// ekf_bad pattern : flashing yellow and red
if (AP_Notify::flags.failsafe_radio || AP_Notify::flags.failsafe_battery ||
AP_Notify::flags.failsafe_gps || AP_Notify::flags.gps_glitching ||
AP_Notify::flags.baro_glitching ||
AP_Notify::flags.ekf_bad) {
switch(step) { switch(step) {
case 0: case 0:
case 1: case 1:
case 2: case 2:
case 3: case 3:
case 4: case 4:
// yellow on // Front red/rear black
set_rgb(OREOLED_INSTANCE_ALL, brightness, brightness, 0); set_rgb(OREOLED_FRONTLEFT, brightness, 0, 0);
set_rgb(OREOLED_FRONTRIGHT, brightness, 0, 0);
set_rgb(OREOLED_BACKLEFT, 0, 0, 0);
set_rgb(OREOLED_BACKRIGHT, 0, 0, 0);
break; break;
case 5: case 5:
case 6: case 6:
case 7: case 7:
case 8: case 8:
case 9: case 9:
if (AP_Notify::flags.failsafe_gps || AP_Notify::flags.gps_glitching) { // Front black/rear red
// blue on for gps failsafe set_rgb(OREOLED_FRONTLEFT, 0, 0, 0);
set_rgb(OREOLED_INSTANCE_ALL, 0, 0, brightness); set_rgb(OREOLED_FRONTRIGHT, 0, 0, 0);
} else if (AP_Notify::flags.baro_glitching) { set_rgb(OREOLED_BACKLEFT, brightness, 0, 0);
// purple on if baro glitching set_rgb(OREOLED_BACKRIGHT, brightness, 0, 0);
set_rgb(OREOLED_INSTANCE_ALL, brightness, 0, brightness);
} else if (AP_Notify::flags.ekf_bad) {
// red on if ekf bad
set_rgb(OREOLED_INSTANCE_ALL, brightness, 0, 0);
}else{
// all off for radio or battery failsafe
set_rgb(OREOLED_INSTANCE_ALL, 0, 0, 0);
}
break; break;
} }
// record stage // record stage
@ -215,19 +196,32 @@ void OreoLED_PX4::update()
// send colours (later we will set macro if required) // send colours (later we will set macro if required)
if (last_stage < 10) { if (last_stage < 10) {
set_macro(OREOLED_FRONTLEFT, OREOLED_PARAM_MACRO_WHITE); // white if (initialization_done) {
set_macro(OREOLED_FRONTRIGHT, OREOLED_PARAM_MACRO_WHITE); // white set_macro(OREOLED_FRONTLEFT, OREOLED_PARAM_MACRO_WHITE); // white
set_macro(OREOLED_BACKLEFT, OREOLED_PARAM_MACRO_RED); // red set_macro(OREOLED_FRONTRIGHT, OREOLED_PARAM_MACRO_WHITE); // white
set_macro(OREOLED_BACKRIGHT, OREOLED_PARAM_MACRO_RED); // red set_macro(OREOLED_BACKLEFT, OREOLED_PARAM_MACRO_RED); // red
set_macro(OREOLED_BACKRIGHT, OREOLED_PARAM_MACRO_RED); // red
}
last_stage = 10; last_stage = 10;
} else if (last_stage >= 10) { } else if (last_stage >= 10) {
// check arming status static uint8_t previous_autopilot_mode = -1;
if (AP_Notify::flags.armed) { if (previous_autopilot_mode != AP_Notify::flags.autopilot_mode) {
// set macro to fade-in
set_macro(OREOLED_INSTANCE_ALL, OREOLED_PARAM_MACRO_FADEIN); if (AP_Notify::flags.autopilot_mode) {
} else { // autopilot flight modes start breathing macro
// start breathing macro set_macro(OREOLED_INSTANCE_ALL, OREOLED_PARAM_MACRO_BREATH);
set_macro(OREOLED_INSTANCE_ALL, OREOLED_PARAM_MACRO_BREATH); } else {
// manual flight modes stop breathing -- solid color
set_macro(OREOLED_INSTANCE_ALL, OREOLED_PARAM_MACRO_FADEIN);
uint8_t oreoled_pattern_solid = OREOLED_PATTERN_SOLID;
send_bytes(0, (uint8_t) 1, &oreoled_pattern_solid);
send_bytes(1, (uint8_t) 1, &oreoled_pattern_solid);
send_bytes(2, (uint8_t) 1, &oreoled_pattern_solid);
send_bytes(3, (uint8_t) 1, &oreoled_pattern_solid);
}
// record we have processed this change
previous_autopilot_mode = AP_Notify::flags.autopilot_mode;
} }
last_stage = 11; last_stage = 11;
} }

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