Commander: Play startup tune if preflight checks are good, play alarm otherwise

src/drivers/stm32/tone_alarm/tone_alarm.cpp

@@ -890,8 +890,9 @@ tone_alarm_main(int argc, char *argv[])
 	if (argc > 1) {
 		const char *argv1 = argv[1];
 
-		if (!strcmp(argv1, "start"))
+		if (!strcmp(argv1, "start")) {
-			play_tune(TONE_STARTUP_TUNE);
+			play_tune(TONE_STOP_TUNE);
+		}
 
 		if (!strcmp(argv1, "stop"))
 			play_tune(TONE_STOP_TUNE);

src/modules/commander/commander.cpp

@@ -1124,6 +1124,13 @@ int commander_thread_main(int argc, char *argv[])
 
 	//Run preflight check
 	status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, true);
+	if(!status.condition_system_sensors_initialized) {
+		set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
+	}
+	else {
+		set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
+	}
+
 	const hrt_abstime commander_boot_timestamp = hrt_absolute_time();
 
 	transition_result_t arming_ret;