AP_Notify: Add tone and light pattern for leak detection

libraries/AP_Notify/AP_Notify.h

@@ -70,6 +70,7 @@ public:
         uint32_t autopilot_mode     : 1;    // 1 if vehicle is in an autopilot flight mode (only used by OreoLEDs)
         uint32_t firmware_update    : 1;    // 1 just before vehicle firmware is updated
         uint32_t compass_cal_running: 1;    // 1 if a compass calibration is running
+        uint32_t leak_detected      : 1;    // 1 if leak detected
         float    battery_voltage       ;    // battery voltage
 
         // additional flags

libraries/AP_Notify/RGBLed.cpp

@@ -180,7 +180,7 @@ void RGBLed::update_colours(void)
     // gps failsafe pattern : flashing yellow and blue
     // ekf_bad pattern : flashing yellow and red
     if (AP_Notify::flags.failsafe_radio || AP_Notify::flags.failsafe_battery ||
-            AP_Notify::flags.ekf_bad) {
+            AP_Notify::flags.ekf_bad || AP_Notify::flags.leak_detected) {
         switch(step) {
             case 0:
             case 1:
@@ -197,7 +197,12 @@ void RGBLed::update_colours(void)
             case 7:
             case 8:
             case 9:
-                if (AP_Notify::flags.ekf_bad) {
+                if (AP_Notify::flags.leak_detected) {
+                    // purple if leak detected
+                    _red_des = brightness;
+                    _blue_des = brightness;
+                    _green_des = brightness;
+                } else if (AP_Notify::flags.ekf_bad) {
                     // red on if ekf bad
                     _red_des = brightness;
                     _blue_des = _led_off;

libraries/AP_Notify/ToneAlarm_PX4.cpp

@@ -87,6 +87,8 @@ const ToneAlarm_PX4::Tone ToneAlarm_PX4::_tones[] {
     { "MFT100L10DBDB>", false},
     #define AP_NOTIFY_PX4_TONE_TUNING_ERROR 25
     { "MFT100L10>BBBBBBBB", false},
+    #define AP_NOTIFY_PX4_TONE_LEAK_DETECTED 26
+    { "MBT255L8>A+AA-", true},
 };
 
 bool ToneAlarm_PX4::init()
@@ -275,7 +277,9 @@ void ToneAlarm_PX4::update()
         }else{
             // disarming tune
             play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
-            stop_cont_tone();
+            if (!flags.leak_detected) {
+            	stop_cont_tone();
+            }
         }
     }
 
@@ -317,6 +321,15 @@ void ToneAlarm_PX4::update()
         }
     }
 
+    if (flags.leak_detected != AP_Notify::flags.leak_detected) {
+        flags.leak_detected = AP_Notify::flags.leak_detected;
+        if (flags.leak_detected) {
+            play_tone(AP_NOTIFY_PX4_TONE_LEAK_DETECTED);
+        } else {
+            stop_cont_tone();
+        }
+    }
+
     if (AP_Notify::events.tune_started) {
         play_tone(AP_NOTIFY_PX4_TONE_TUNING_START);
         AP_Notify::events.tune_started = 0;        

libraries/AP_Notify/ToneAlarm_PX4.h

@@ -51,14 +51,15 @@ private:
 
     /// tonealarm_type - bitmask of states we track
     struct tonealarm_type {
-        uint8_t armed                 : 1;    // 0 = disarmed, 1 = armed
-        uint8_t failsafe_battery      : 1;    // 1 if battery failsafe
-        uint8_t parachute_release     : 1;    // 1 if parachute is being released
-        uint8_t pre_arm_check         : 1;    // 0 = failing checks, 1 = passed
-        uint8_t failsafe_radio        : 1;    // 1 if radio failsafe
-        uint8_t vehicle_lost          : 1;    // 1 if lost copter tone requested
-        uint8_t compass_cal_running   : 1;    // 1 if compass calibration is running
-        uint8_t waiting_for_throw     : 1;    // 1 if waiting for copter throw launch
+        uint16_t armed                 : 1;    // 0 = disarmed, 1 = armed
+        uint16_t failsafe_battery      : 1;    // 1 if battery failsafe
+        uint16_t parachute_release     : 1;    // 1 if parachute is being released
+        uint16_t pre_arm_check         : 1;    // 0 = failing checks, 1 = passed
+        uint16_t failsafe_radio        : 1;    // 1 if radio failsafe
+        uint16_t vehicle_lost          : 1;    // 1 if lost copter tone requested
+        uint16_t compass_cal_running   : 1;    // 1 if compass calibration is running
+        uint16_t waiting_for_throw     : 1;    // 1 if waiting for copter throw launch
+        uint16_t leak_detected         : 1;    // 1 if leak detected
     } flags;
 
     int8_t _cont_tone_playing;