AP_Notify: Reduce flash consumption, fix some drivers, always allow

buzzer

libraries/AP_Notify/AP_Notify.cpp

@@ -212,6 +212,10 @@ void AP_Notify::add_backends(void)
   #endif
 #endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
+                ADD_BACKEND(new AP_ExternalLED()); // despite the name this is a built in set of onboard LED's
+#endif // CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
+
 #if defined(HAL_HAVE_PIXRACER_LED)
                 ADD_BACKEND(new PixRacerLED());
 #elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && defined(HAL_GPIO_C_LED_PIN))
@@ -295,14 +299,12 @@ void AP_Notify::add_backends(void)
 }
 
 // initialisation
-void AP_Notify::init(bool enable_external_leds)
+void AP_Notify::init(void)
 {
     // clear all flags and events
     memset(&AP_Notify::flags, 0, sizeof(AP_Notify::flags));
     memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
 
-    AP_Notify::flags.external_leds = enable_external_leds;
-
     // add all the backends
     add_backends();
 }

libraries/AP_Notify/AP_Notify.h

@@ -71,34 +71,30 @@ public:
 
     /// notify_flags_type - bitmask of notification flags
     struct notify_flags_and_values_type {
-        uint32_t initialising       : 1;    // 1 if initialising and copter should not be moved
+        bool initialising;        // true if initialising and the vehicle should not be moved
-        uint32_t gps_status         : 3;    // 0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock, 4 = dgps lock, 5 = rtk lock
+        uint8_t gps_status;       // see the GPS_0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock, 4 = dgps lock, 5 = rtk lock
-        uint32_t gps_num_sats       : 6;    // number of sats
+        uint8_t gps_num_sats;     // number of sats
-        uint32_t flight_mode        : 8;    // flight mode
+        uint8_t flight_mode;      // flight mode
-        uint32_t armed              : 1;    // 0 = disarmed, 1 = armed
+        bool armed;               // 0 = disarmed, 1 = armed
-        uint32_t pre_arm_check      : 1;    // 0 = failing checks, 1 = passed
+        bool pre_arm_check;       // true if passing pre arm checks
-        uint32_t pre_arm_gps_check  : 1;    // 0 = failing pre-arm GPS checks, 1 = passed
+        bool pre_arm_gps_check;   // true if passing pre arm gps checks
-        uint32_t save_trim          : 1;    // 1 if gathering trim data
+        bool save_trim;           // true if gathering trim data
-        uint32_t esc_calibration    : 1;    // 1 if calibrating escs
+        bool esc_calibration;     // true if calibrating escs
-        uint32_t failsafe_radio     : 1;    // 1 if radio failsafe
+        bool failsafe_radio;      // true if radio failsafe
-        uint32_t failsafe_battery   : 1;    // 1 if battery failsafe
+        bool failsafe_battery;    // true if battery failsafe
-        uint32_t parachute_release  : 1;    // 1 if parachute is being released
+        bool parachute_release;   // true if parachute is being released
-        uint32_t ekf_bad            : 1;    // 1 if ekf is reporting problems
+        bool ekf_bad;             // true if ekf is reporting problems
-        uint32_t autopilot_mode     : 1;    // 1 if vehicle is in an autopilot flight mode (only used by OreoLEDs)
+        bool autopilot_mode;      // true if vehicle is in an autopilot flight mode (only used by OreoLEDs)
-        uint32_t firmware_update    : 1;    // 1 just before vehicle firmware is updated
+        bool firmware_update;     // true just before vehicle firmware is updated
-        uint32_t compass_cal_running: 1;    // 1 if a compass calibration is running
+        bool compass_cal_running; // true if a compass calibration is running
-        uint32_t leak_detected      : 1;    // 1 if leak detected
+        bool leak_detected;       // true if leak detected
-        float    battery_voltage       ;    // battery voltage
+        bool gps_fusion;          // true if the GPS is in use by EKF, usable for flight
-        uint32_t gps_fusion         : 1;    // 0 = GPS fix rejected by EKF, not usable for flight. 1 = GPS in use by EKF, usable for flight
+        bool gps_glitching;       // true f the GPS is believed to be glitching is affecting navigation accuracy
-        uint32_t gps_glitching      : 1;    // 1 if GPS glitching is affecting navigation accuracy
+        bool have_pos_abs;        // true if absolute position is available
-        uint32_t have_pos_abs       : 1;    // 0 = no absolute position available, 1 = absolute position available
+        bool vehicle_lost;        // true when lost copter tone is requested (normally only used for copter)
-
+        bool waiting_for_throw;   // true when copter is in THROW mode and waiting to detect the user hand launch
-        // additional flags
+        bool powering_off;        // true when the vehicle is powering off
-        uint32_t external_leds      : 1;    // 1 if external LEDs are enabled (normally only used for copter)
+        bool video_recording;     // true when the vehicle is recording video
-        uint32_t vehicle_lost       : 1;    // 1 when lost copter tone is requested (normally only used for copter)
-        uint32_t waiting_for_throw  : 1;    // 1 when copter is in THROW mode and waiting to detect the user hand launch
-        uint32_t powering_off       : 1;    // 1 when the vehicle is powering off
-        uint32_t video_recording    : 1;    // 1 when the vehicle is recording video
     };
 
     /// notify_events_type - bitmask of active events.
@@ -129,10 +125,7 @@ public:
     static struct notify_events_type events;
 
     // initialisation
-    void init(bool enable_external_leds);
+    void init(void);
-
-    // add all backends
-    void add_backends(void);
 
     /// update - allow updates of leds that cannot be updated during a timed interrupt
     void update(void);
@@ -163,6 +156,9 @@ private:
 
     void add_backend_helper(NotifyDevice *backend);
 
+    // add all backends
+    void add_backends(void);
+
     // parameters
     AP_Int8 _rgb_led_brightness;
     AP_Int8 _rgb_led_override;

libraries/AP_Notify/Buzzer.cpp

@@ -57,11 +57,6 @@ bool Buzzer::init()
 // update - updates led according to timed_updated.  Should be called at 50Hz
 void Buzzer::update()
 {
-    // return immediately if disabled
-    if (!AP_Notify::flags.external_leds) {
-        return;
-    }
-
     // check for arming failed event
     if (AP_Notify::events.arming_failed) {
         // arming failed buzz

libraries/AP_Notify/Display.cpp

@@ -22,6 +22,7 @@
 
 #include <stdio.h>
 #include <AP_GPS/AP_GPS.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
 
 #include <utility>
 
@@ -505,7 +506,7 @@ void Display::update_ekf(uint8_t r)
 void Display::update_battery(uint8_t r)
 {
     char msg [DISPLAY_MESSAGE_SIZE];
-    snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %4.2fV", (double)AP_Notify::flags.battery_voltage) ;
+    snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %4.2fV", (double)AP::battery().voltage()) ;
     draw_text(COLUMN(0), ROW(r), msg);
  }
 

libraries/AP_Notify/ExternalLED.cpp

@@ -25,11 +25,6 @@ extern const AP_HAL::HAL& hal;
 
 bool ExternalLED::init(void)
 {
-    // return immediately if disabled
-    if (!AP_Notify::flags.external_leds) {
-        return false;
-    }
-
     // setup the main LEDs as outputs
     hal.gpio->pinMode(EXTERNAL_LED_ARMED, HAL_GPIO_OUTPUT);
     hal.gpio->pinMode(EXTERNAL_LED_GPS, HAL_GPIO_OUTPUT);
@@ -49,11 +44,6 @@ bool ExternalLED::init(void)
  */
 void ExternalLED::update(void)
 {
-    // return immediately if disabled
-    if (!AP_Notify::flags.external_leds) {
-        return;
-    }
-
     // reduce update rate from 50hz to 10hz
     _counter++;
     if (_counter < 5) {