Signals

LEDs

LPC

• D5 (LEDA)

  • green -> slow blinking: Motors deactivated, FC is working

  • green -> faster blinking: Motors activated, FC is spinning up

  • green -> very fast blinking: Motors activated, FC is flying

  • red -> no signal after rc-mixer

• D6 (LEDB)

  • green -> timer overrun

  • red -> i2c actor-bus error (bus error, nack seen, or general error)

Both should blink once in knigthrider-style after powerup (if not, the LPC does not start up!)

RC-Controller

On the Flight Control:

• D1 (for DSL1)

  • red -> no receiver

  • red/green -> receiver, no signal

  • green -> receiver, with signal

• D2 (for DSL0)

  • red -> no receiver

  • red/green -> receiver, no signal

  • green -> receiver, with signal

• D4 (rcsum)

  • red -> no receiver

  • red/green -> receiver, no signal

  • green -> receiver, with signal

SB-Controller

On the Sensor Board:

• LED1 (red)

  • gps led, lights up when gps detected, blinks when gps has a fix (SW >=0.59)

• LED2 (green)

  • blinks always (heartbeat) (SW >=0.59)

• LED3 (blue)

  • compass led, lights up when compass detected, blinks when compass is calibrated and useable (SW >=0.59)

Acoustic signals

• System startup:

  • 1 short beep while startup -> Boot start

  • 2 short beeps while startup -> Actors found

  • 1 long beep while startup -> Not enough actors for current HAL found

  • 3 short beeps while startup -> System up and running, ready to fly

• Shell command input:

  • 2 short beeps -> OK

  • 1 long beep -> Error

• Any time after startup:

  • 3 short beeps -> Battery Low warning.
    This beep sequence can be changed with the while.battery.low() behavior rule

If your NG is beeping continuously, use the following console command to invert the signal: set HW.use.sound invert