Commander helper functions definitions. More...

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <drivers/drv_led.h>
#include <drivers/drv_board_led.h>

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Functions
bool	is_multirotor (const struct vehicle_status_s *current_status)

bool	is_rotary_wing (const struct vehicle_status_s *current_status)

bool	is_vtol (const struct vehicle_status_s *current_status)

bool	is_vtol_tailsitter (const struct vehicle_status_s *current_status)

bool	is_fixed_wing (const struct vehicle_status_s *current_status)

bool	is_ground_rover (const struct vehicle_status_s *current_status)

int	buzzer_init (void)

void	buzzer_deinit (void)

void	set_tune_override (int tune)

void	set_tune (int tune)

void	tune_home_set (bool use_buzzer)

void	tune_mission_ok (bool use_buzzer)

void	tune_mission_fail (bool use_buzzer)

void	tune_positive (bool use_buzzer)
	Blink green LED and play positive tune (if use_buzzer == true). More...

void	tune_neutral (bool use_buzzer)
	Blink white LED and play neutral tune (if use_buzzer == true). More...

void	tune_negative (bool use_buzzer)
	Blink red LED and play negative tune (if use_buzzer == true). More...

void	tune_failsafe (bool use_buzzer)

int	blink_msg_state ()

int	led_init (void)

void	led_deinit (void)

int	led_toggle (int led)

int	led_on (int led)

int	led_off (int led)

void	rgbled_set_color_and_mode (uint8_t color, uint8_t mode)
	set the LED color & mode More...

void	rgbled_set_color_and_mode (uint8_t color, uint8_t mode, uint8_t blinks, uint8_t prio)

Detailed Description

Commander helper functions definitions.

Author: Thomas Gubler thoma.nosp@m.sgub.nosp@m.ler@s.nosp@m.tude.nosp@m.nt.et.nosp@m.hz.c.nosp@m.h; Julian Oes julia.nosp@m.n@oe.nosp@m.s.ch

Definition in file commander_helper.h.

Function Documentation

◆ blink_msg_state()

int blink_msg_state ( )

Definition at line 274 of file commander_helper.cpp.

References blink_msg_end, and hrt_absolute_time().

Referenced by Commander::run().

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◆ buzzer_deinit()

void buzzer_deinit ( void )

Definition at line 155 of file commander_helper.cpp.

References orb_unadvertise(), and tune_control_pub.

Referenced by Commander::run().

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◆ buzzer_init()

int buzzer_init ( void )

Definition at line 141 of file commander_helper.cpp.

References orb_advertise_queue(), ORB_ID, TONE_ARMING_WARNING_TUNE, TONE_BATTERY_WARNING_FAST_TUNE, TONE_BATTERY_WARNING_SLOW_TUNE, TONE_HOME_SET, TONE_NOTIFY_NEGATIVE_TUNE, TONE_NOTIFY_NEUTRAL_TUNE, TONE_NOTIFY_POSITIVE_TUNE, TONE_SINGLE_BEEP_TUNE, tune_control, tune_control_pub, and tune_durations.

Referenced by Commander::run().

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◆ is_fixed_wing()

bool is_fixed_wing ( const struct vehicle_status_s * current_status )

Definition at line 119 of file commander_helper.cpp.

References vehicle_status_s::system_type, and VEHICLE_TYPE_FIXED_WING.

Referenced by Commander::run(), Ekf2::Run(), EstimatorInterface::set_is_fixed_wing(), and FixedwingAttitudeControl::vehicle_manual_poll().

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◆ is_ground_rover()

bool is_ground_rover ( const struct vehicle_status_s * current_status )

Definition at line 124 of file commander_helper.cpp.

References vehicle_status_s::system_type, and VEHICLE_TYPE_GROUND_ROVER.

Referenced by Commander::handle_command(), and Commander::run().

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◆ is_multirotor()

bool is_multirotor ( const struct vehicle_status_s * current_status )

Definition at line 88 of file commander_helper.cpp.

References vehicle_status_s::system_type, VEHICLE_TYPE_HEXAROTOR, VEHICLE_TYPE_OCTOROTOR, VEHICLE_TYPE_QUADROTOR, and VEHICLE_TYPE_TRICOPTER.

Referenced by is_rotary_wing().

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◆ is_rotary_wing()

bool is_rotary_wing ( const struct vehicle_status_s * current_status )

Definition at line 96 of file commander_helper.cpp.

References is_multirotor(), vehicle_status_s::system_type, VEHICLE_TYPE_COAXIAL, and VEHICLE_TYPE_HELICOPTER.

Referenced by Commander::run().

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◆ is_vtol()

bool is_vtol ( const struct vehicle_status_s * current_status )

Definition at line 102 of file commander_helper.cpp.

References vehicle_status_s::system_type, VEHICLE_TYPE_VTOL_DUOROTOR, VEHICLE_TYPE_VTOL_QUADROTOR, VEHICLE_TYPE_VTOL_RESERVED2, VEHICLE_TYPE_VTOL_RESERVED3, VEHICLE_TYPE_VTOL_RESERVED4, VEHICLE_TYPE_VTOL_RESERVED5, and VEHICLE_TYPE_VTOL_TILTROTOR.

Referenced by Commander::run().

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◆ is_vtol_tailsitter()

bool is_vtol_tailsitter ( const struct vehicle_status_s * current_status )

Definition at line 113 of file commander_helper.cpp.

References vehicle_status_s::system_type, VEHICLE_TYPE_VTOL_DUOROTOR, and VEHICLE_TYPE_VTOL_QUADROTOR.

Referenced by Commander::run().

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◆ led_deinit()

void led_deinit ( void )

Definition at line 327 of file commander_helper.cpp.

References h_leds, led_control_pub, and orb_unadvertise().

Referenced by Commander::run().

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◆ led_init()

int led_init ( void )

Definition at line 288 of file commander_helper.cpp.

◆ led_off()

int led_off ( int led )

Definition at line 343 of file commander_helper.cpp.

◆ led_on()

int led_on ( int led )

Definition at line 338 of file commander_helper.cpp.

◆ led_toggle()

int led_toggle ( int led )

Definition at line 333 of file commander_helper.cpp.

◆ rgbled_set_color_and_mode() [1/2]

void rgbled_set_color_and_mode	(	uint8_t	color,
		uint8_t	mode
	)

set the LED color & mode

Parameters

color

See also: led_control_s::COLOR_*

Parameters

mode

See also: led_control_s::MODE_*

Definition at line 358 of file commander_helper.cpp.

References rgbled_set_color_and_mode().

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◆ rgbled_set_color_and_mode() [2/2]

void rgbled_set_color_and_mode	(	uint8_t	color,
		uint8_t	mode,
		uint8_t	blinks,
		uint8_t	prio
	)

Definition at line 348 of file commander_helper.cpp.

References led_control_s::color, hrt_absolute_time(), led_control, led_control_pub, led_control_s::mode, led_control_s::num_blinks, ORB_ID, orb_publish(), led_control_s::priority, and led_control_s::timestamp.

Referenced by calibrate_from_orientation(), control_status_leds(), rgbled_set_color_and_mode(), Commander::run(), tune_failsafe(), tune_home_set(), tune_mission_fail(), tune_mission_ok(), tune_negative(), tune_neutral(), and tune_positive().

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◆ set_tune()

void set_tune ( int tune )

Definition at line 169 of file commander_helper.cpp.

References hrt_absolute_time(), ORB_ID, orb_publish(), tune_control_s::timestamp, tune_control, tune_control_pub, tune_current, tune_durations, tune_end, tune_control_s::tune_id, tune_control_s::tune_override, and tune_control_s::volume.

Referenced by calibrate_from_orientation(), mag_calibration_worker(), Commander::run(), tune_failsafe(), tune_home_set(), tune_mission_fail(), tune_mission_ok(), tune_negative(), tune_neutral(), and tune_positive().

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◆ set_tune_override()

void set_tune_override ( int tune )

Definition at line 160 of file commander_helper.cpp.

References hrt_absolute_time(), ORB_ID, orb_publish(), tune_control_s::timestamp, tune_control, tune_control_pub, tune_control_s::tune_id, tune_control_s::tune_override, and tune_control_s::volume.

Referenced by Commander::run().

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◆ tune_failsafe()

void tune_failsafe ( bool use_buzzer )

Definition at line 264 of file commander_helper.cpp.

References blink_msg_end, BLINK_MSG_TIME, hrt_absolute_time(), rgbled_set_color_and_mode(), set_tune(), and TONE_BATTERY_WARNING_FAST_TUNE.

Referenced by Commander::run().

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◆ tune_home_set()

void tune_home_set ( bool use_buzzer )

Definition at line 195 of file commander_helper.cpp.

References blink_msg_end, BLINK_MSG_TIME, hrt_absolute_time(), rgbled_set_color_and_mode(), set_tune(), and TONE_HOME_SET.

Referenced by Commander::set_home_position().

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◆ tune_mission_fail()

void tune_mission_fail ( bool use_buzzer )

Definition at line 215 of file commander_helper.cpp.

References blink_msg_end, BLINK_MSG_TIME, hrt_absolute_time(), rgbled_set_color_and_mode(), set_tune(), and TONE_NOTIFY_NEGATIVE_TUNE.

Referenced by Commander::run().

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◆ tune_mission_ok()

void tune_mission_ok ( bool use_buzzer )

Definition at line 205 of file commander_helper.cpp.

References blink_msg_end, BLINK_MSG_TIME, hrt_absolute_time(), rgbled_set_color_and_mode(), set_tune(), and TONE_NOTIFY_NEUTRAL_TUNE.

Referenced by Commander::run().

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◆ tune_negative()

void tune_negative ( bool use_buzzer )

Blink red LED and play negative tune (if use_buzzer == true).

Definition at line 254 of file commander_helper.cpp.

References blink_msg_end, BLINK_MSG_TIME, hrt_absolute_time(), rgbled_set_color_and_mode(), set_tune(), and TONE_NOTIFY_NEGATIVE_TUNE.

Referenced by answer_command(), arm_disarm(), calibrate_answer_command(), commander_low_prio_loop(), print_reject_arm(), print_reject_mode(), and Commander::run().

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◆ tune_neutral()

void tune_neutral ( bool use_buzzer )

Blink white LED and play neutral tune (if use_buzzer == true).

Definition at line 241 of file commander_helper.cpp.

References blink_msg_end, BLINK_MSG_TIME, hrt_absolute_time(), rgbled_set_color_and_mode(), set_tune(), and TONE_NOTIFY_NEUTRAL_TUNE.

Referenced by do_airspeed_calibration(), and Commander::run().

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◆ tune_positive()

void tune_positive ( bool use_buzzer )

Blink green LED and play positive tune (if use_buzzer == true).

Definition at line 228 of file commander_helper.cpp.

References blink_msg_end, BLINK_MSG_TIME, hrt_absolute_time(), rgbled_set_color_and_mode(), set_tune(), and TONE_NOTIFY_POSITIVE_TUNE.

Referenced by calibrate_answer_command(), commander_low_prio_loop(), and Commander::run().

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Functions

Detailed Description

Function Documentation

◆ blink_msg_state()

◆ buzzer_deinit()

◆ buzzer_init()

◆ is_fixed_wing()

◆ is_ground_rover()

◆ is_multirotor()

◆ is_rotary_wing()

◆ is_vtol()

◆ is_vtol_tailsitter()

◆ led_deinit()

◆ led_init()

◆ led_off()

◆ led_on()

◆ led_toggle()

◆ rgbled_set_color_and_mode() [1/2]

◆ rgbled_set_color_and_mode() [2/2]

◆ set_tune()

◆ set_tune_override()

◆ tune_failsafe()

◆ tune_home_set()

◆ tune_mission_fail()

◆ tune_mission_ok()

◆ tune_negative()

◆ tune_neutral()

◆ tune_positive()