From 358f67f53bdc8eae9e5541f43be1de9c8772ec95 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Sun, 23 Mar 2025 00:19:05 +0100
Subject: [PATCH] [ConRIG][ConRIGv2] Play audio feedback quicker after startup
and disarming
---
src/ConRIG/Configs/RadioConfig.h | 6 ++++++
src/ConRIG/Radio/Radio.cpp | 17 +++++++++++++----
src/ConRIG/Radio/Radio.h | 3 ++-
src/ConRIGv2/Configs/RadioConfig.h | 6 ++++++
src/ConRIGv2/Radio/Radio.cpp | 19 +++++++++++++------
src/ConRIGv2/Radio/Radio.h | 3 ++-
6 files changed, 42 insertions(+), 12 deletions(-)
diff --git a/src/ConRIG/Configs/RadioConfig.h b/src/ConRIG/Configs/RadioConfig.h
index 735ae3f51..af7f66cde 100644
--- a/src/ConRIG/Configs/RadioConfig.h
+++ b/src/ConRIG/Configs/RadioConfig.h
@@ -50,6 +50,12 @@ constexpr uint8_t MAV_COMPONENT_ID = 96;
// Periodic telemetries frequency
constexpr Hertz PING_GSE_PERIOD = 2_hz;
+// Audio feedback message threshold
+constexpr auto AUDIO_FEEDBACK_THRESHOLD = 10;
+// Value to reset the message counter to, to avoid long pauses without audio
+// feedback after startup or disarming
+constexpr auto AUDIO_FEEDBACK_RESET_VALUE = AUDIO_FEEDBACK_THRESHOLD * 4 / 5;
+
} // namespace Radio
} // namespace Config
} // namespace ConRIG
diff --git a/src/ConRIG/Radio/Radio.cpp b/src/ConRIG/Radio/Radio.cpp
index cb88b002b..f9e218372 100644
--- a/src/ConRIG/Radio/Radio.cpp
+++ b/src/ConRIG/Radio/Radio.cpp
@@ -63,10 +63,18 @@ void Radio::handleMessage(const mavlink_message_t& msg)
case MAVLINK_MSG_ID_GSE_TM:
{
int armingState = mavlink_msg_gse_tm_get_arming_state(&msg);
- messagesReceived += 1;
+ bool wasArmed = isArmed;
+ bool isNowArmed = armingState == 1;
+ isArmed = isNowArmed;
+
+ // Reset the message counter to a value higher than zero to avoid
+ // long pauses without audio feedback after disarming
+ if (wasArmed && !isNowArmed)
+ messagesReceived = Config::Radio::AUDIO_FEEDBACK_RESET_VALUE;
+ else
+ messagesReceived += 1;
- isArmed = armingState == 1;
- if (armingState == 1)
+ if (isNowArmed)
getModule<Buttons>()->enableIgnition();
else
getModule<Buttons>()->disableIgnition();
@@ -144,7 +152,8 @@ void Radio::loopBuzzer()
Thread::sleep(100);
// Doesn't matter the precision, the important thing is
// the beep, this is because an atomic is used
- if ((!isArmed && messagesReceived > 10) ||
+ if ((!isArmed &&
+ messagesReceived > Config::Radio::AUDIO_FEEDBACK_THRESHOLD) ||
(isArmed && messagesReceived > 0))
{
messagesReceived = 0;
diff --git a/src/ConRIG/Radio/Radio.h b/src/ConRIG/Radio/Radio.h
index 949df5f99..29197d280 100644
--- a/src/ConRIG/Radio/Radio.h
+++ b/src/ConRIG/Radio/Radio.h
@@ -79,7 +79,8 @@ private:
std::thread buzzerLooper;
- std::atomic<uint8_t> messagesReceived{0};
+ std::atomic<uint8_t> messagesReceived{
+ Config::Radio::AUDIO_FEEDBACK_RESET_VALUE};
std::atomic<bool> isArmed{false};
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("radio");
diff --git a/src/ConRIGv2/Configs/RadioConfig.h b/src/ConRIGv2/Configs/RadioConfig.h
index 8f2695e67..b6065aa5e 100644
--- a/src/ConRIGv2/Configs/RadioConfig.h
+++ b/src/ConRIGv2/Configs/RadioConfig.h
@@ -50,6 +50,12 @@ constexpr uint8_t MAV_COMPONENT_ID = 96;
// Periodic telemetries frequency
constexpr Hertz PING_GSE_PERIOD = 2_hz;
+// Audio feedback message threshold
+constexpr auto AUDIO_FEEDBACK_THRESHOLD = 10;
+// Value to reset the message counter to, to avoid long pauses without audio
+// feedback after startup or disarming
+constexpr auto AUDIO_FEEDBACK_RESET_VALUE = AUDIO_FEEDBACK_THRESHOLD * 4 / 5;
+
} // namespace Radio
} // namespace Config
} // namespace ConRIGv2
diff --git a/src/ConRIGv2/Radio/Radio.cpp b/src/ConRIGv2/Radio/Radio.cpp
index 328df566a..3091b2a7c 100644
--- a/src/ConRIGv2/Radio/Radio.cpp
+++ b/src/ConRIGv2/Radio/Radio.cpp
@@ -63,10 +63,18 @@ void Radio::handleMessage(const mavlink_message_t& msg)
case MAVLINK_MSG_ID_GSE_TM:
{
int armingState = mavlink_msg_gse_tm_get_arming_state(&msg);
- messagesReceived += 1;
+ bool wasArmed = isArmed;
+ bool isNowArmed = armingState == 1;
+ isArmed = isNowArmed;
+
+ // Reset the message counter to a value higher than zero to avoid
+ // long pauses without audio feedback after disarming
+ if (wasArmed && !isNowArmed)
+ messagesReceived = Config::Radio::AUDIO_FEEDBACK_RESET_VALUE;
+ else
+ messagesReceived += 1;
- isArmed = armingState == 1;
- if (armingState == 1)
+ if (isNowArmed)
getModule<Buttons>()->enableIgnition();
else
getModule<Buttons>()->disableIgnition();
@@ -149,9 +157,8 @@ void Radio::buzzerOff()
void Radio::buzzerTask()
{
- constexpr int beepPeriod = 5; // seconds
-
- if ((!isArmed && messagesReceived > beepPeriod * 2) ||
+ if ((!isArmed &&
+ messagesReceived > Config::Radio::AUDIO_FEEDBACK_THRESHOLD) ||
(isArmed && messagesReceived > 0))
{
messagesReceived = 0;
diff --git a/src/ConRIGv2/Radio/Radio.h b/src/ConRIGv2/Radio/Radio.h
index 9d8c8bb47..71120d3fb 100644
--- a/src/ConRIGv2/Radio/Radio.h
+++ b/src/ConRIGv2/Radio/Radio.h
@@ -88,7 +88,8 @@ private:
miosix::FastMutex buttonsMutex;
mavlink_conrig_state_tc_t buttonState{};
- std::atomic<uint8_t> messagesReceived{0};
+ std::atomic<uint8_t> messagesReceived{
+ Config::Radio::AUDIO_FEEDBACK_RESET_VALUE};
std::atomic<bool> isArmed{false};
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("radio");
--
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