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Feat/prelight additions #7

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Feat/prelight additions #7

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41 changes: 23 additions & 18 deletions libraries/AC_DroneShowManager/AC_DroneShowManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -240,7 +240,7 @@ const AP_Param::GroupInfo AC_DroneShowManager::var_info[] = {
// @Range: 0 3
// @Increment: 1
// @User: Standard
AP_GROUPINFO("PRE_LIGHTS", 10, AC_DroneShowManager, _params.preflight_light_signal_brightness, 2),
AP_GROUPINFO("PRE_LIGHTS", 10, AC_DroneShowManager, _params.preflight_light_signal_brightness, 2.0f),

// @Param: CTRL_MODE
// @DisplayName: Flags to configure the show position control algorithm
Expand Down Expand Up @@ -353,6 +353,7 @@ const AP_Param::GroupInfo AC_DroneShowManager::var_info[] = {
static DroneShowLEDFactory _rgb_led_factory_singleton;

static bool is_safe_to_change_start_time_in_stage(DroneShowModeStage stage);
static bool are_almost_equal(float a, float b);
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Compiler didn't like comparisons of variables to float values. Maybe there is a utility that already provides this?

static float get_modulation_factor_for_light_effect(
uint32_t timestamp, LightEffectType effect, uint16_t period_msec, uint16_t phase_msec
);
Expand Down Expand Up @@ -2053,7 +2054,7 @@ void AC_DroneShowManager::_update_lights()
sb_rgb_color_t color = Colors::BLACK;
bool light_signal_affected_by_brightness_setting = true;
bool enhance_brightness = false;
int brightness = _params.preflight_light_signal_brightness;
float brightness = _params.preflight_light_signal_brightness;
uint8_t pattern = 0b11111111;
const uint8_t BLINK = 0b11110000;
const uint8_t BLINK_TWICE_PER_SECOND = 0b11001100;
Expand Down Expand Up @@ -2090,8 +2091,8 @@ void AC_DroneShowManager::_update_lights()

// Make sure that this light signal is visible with a minimum intensity
// if the user otherwise turned off the light signals
if (brightness < 1) {
brightness = 1;
if (brightness <= 0) {
brightness = 0.333;
}
} else if (_light_signal.started_at_msec) {
// If the user requested a light signal, it trumps everything except
Expand Down Expand Up @@ -2295,25 +2296,24 @@ void AC_DroneShowManager::_update_lights()

// Dim the lights if we are on the ground before the flight
if (light_signal_affected_by_brightness_setting) {
uint8_t shift = 0;
float percent = 1.0;

if (brightness <= 0) {
if (brightness <= 0.0) {
// <= 0 = completely off, shift by 8 bits
shift = 8;
} else if (brightness == 1) {
percent = 0.0;
} else if (are_almost_equal(brightness, 1.0)) {
// 1 = low brightness, keep the 6 MSB so the maximum is 64
shift = 2;
} else if (brightness == 2) {
percent = 0.333;
} else if (are_almost_equal(brightness, 2.0)) {
// 2 = medium brightness, keep the 7 MSB so the maximum is 128
shift = 1;
} else {
// >= 2 = full brightness
shift = 0;
percent = 0.667;
} else if (brightness > 0.0 && brightness < 1.0) {
percent = brightness;
}

color.red >>= shift;
color.green >>= shift;
color.blue >>= shift;
color.red *= percent;
color.green *= percent;
color.blue *= percent;
}

_last_rgb_led_color = color;
Expand Down Expand Up @@ -2529,4 +2529,9 @@ static bool is_safe_to_change_start_time_in_stage(DroneShowModeStage stage) {
);
}

static bool are_almost_equal(float a, float b) {
float epsilon = 1e-5;
return std::abs(a - b) < epsilon;
}

#endif // HAVE_FILESYSTEM_SUPPORT
2 changes: 1 addition & 1 deletion libraries/AC_DroneShowManager/AC_DroneShowManager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -494,7 +494,7 @@ class AC_DroneShowManager {
AP_Int8 show_mode_settings;

// Brightness of status light signals when the drone is on the ground
AP_Int8 preflight_light_signal_brightness;
AP_Float preflight_light_signal_brightness;

// Bitmask to set up various aspects of the control algorithm
AP_Int16 control_mode_flags;
Expand Down