AP_Notify: ChibiOS: beep on mode change

7 years ago · 9480572075
1 changed files with 9 additions and 0 deletions
--- a/libraries/AP_Notify/ToneAlarm_ChibiOS.cpp
+++ b/libraries/AP_Notify/ToneAlarm_ChibiOS.cpp
@ -79,6 +79,15 @@ void ToneAlarm_ChibiOS::update()
				@@ -79,6 +79,15 @@ void ToneAlarm_ChibiOS::update()
        }
    }

+    // notify the user when their mode change was successful
+    if (AP_Notify::events.user_mode_change) {
+        if (AP_Notify::flags.armed) {
+            play_tune(TONE_NOTIFY_MODE_CHANGE_LOUD);
+        } else {
+            play_tune(TONE_NOTIFY_MODE_CHANGE_SOFT);
+        }
+    }
+
    // check if battery status has changed
    if (flags.failsafe_battery != AP_Notify::flags.failsafe_battery) {
        flags.failsafe_battery = AP_Notify::flags.failsafe_battery;