Copter: integrate Toshiba_LED_PX4

ArduCopter/AP_State.pde

@@ -127,3 +127,14 @@ void set_compass_healthy(bool b)
     }
     ap.compass_status = b;
 }
+
+// ---------------------------------------------
+
+void set_pre_arm_check(bool b)
+{
+    if(ap.pre_arm_check != b) {
+        ap.pre_arm_check = b;
+        AP_Notify::flags.pre_arm_check = b;
+    }
+}
+

ArduCopter/ArduCopter.pde

@@ -107,6 +107,7 @@
 #include <AP_Scheduler.h>       // main loop scheduler
 #include <AP_RCMapper.h>        // RC input mapping library
 #include <ToshibaLED.h>         // ToshibaLED library
+#include <ToshibaLED_PX4.h>     // ToshibaLED library
 
 // AP_HAL to Arduino compatibility layer
 #include "compat.h"
@@ -150,7 +151,12 @@ static AP_Scheduler scheduler;
 static AP_BoardLED board_led;
 
 // Toshiba LED instance
+ #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+static ToshibaLED_PX4 toshiba_led;
+ #else
 static ToshibaLED toshiba_led;
+ #endif
+
 
 ////////////////////////////////////////////////////////////////////////////////
 // prototypes

ArduCopter/control_modes.pde

@@ -295,7 +295,7 @@ static void auto_trim()
         auto_trim_counter--;
 
         // flash the leds
-        notify.flags.save_trim = true;
+        AP_Notify::flags.save_trim = true;
 
         // calculate roll trim adjustment
         float roll_trim_adjustment = ToRad((float)g.rc_1.control_in / 4000.0f);
@@ -313,7 +313,7 @@ static void auto_trim()
         // on last iteration restore leds and accel gains to normal
         if(auto_trim_counter == 0) {
             ahrs.set_fast_gains(false);
-            notify.flags.save_trim = false;
+            AP_Notify::flags.save_trim = false;
         }
     }
 }

ArduCopter/leds.pde

@@ -4,7 +4,7 @@
 // should be called at 50hz ~ 100hz
 static void update_toshiba_led()
 {
-    toshiba_led.update();
+    AP_Notify::update();
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////

ArduCopter/motors.pde

@@ -217,7 +217,7 @@ static void pre_arm_checks(bool display_failure)
 
     // succeed if pre arm checks are disabled
     if(!g.arming_check_enabled) {
-        ap.pre_arm_check = true;
+        set_pre_arm_check(true);
         return;
     }
 
@@ -328,7 +328,7 @@ static void pre_arm_checks(bool display_failure)
     }
 
     // if we've gotten this far then pre arm checks have completed
-    ap.pre_arm_check = true;
+    set_pre_arm_check(true);
 }
 
 // perform pre_arm_rc_checks checks and set ap.pre_arm_rc_check flag

ArduCopter/radio.pde

@@ -75,7 +75,7 @@ static void init_rc_out()
             // display message on console
             cliSerial->printf_P(PSTR("Entering ESC Calibration: please restart APM.\n"));
             // turn on esc calibration notification
-            notify.flags.esc_calibration = true;
+            AP_Notify::flags.esc_calibration = true;
             // block until we restart
             while(1) {}
         }else{

ArduCopter/setup.pde

@@ -1356,7 +1356,7 @@ init_esc()
     while(1) {
         read_radio();
         delay(100);
-        notify.flags.esc_calibration = true;
+        AP_Notify::flags.esc_calibration = true;
         motors.throttle_pass_through();
     }
 }