Signals

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)

{i} 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 (no relevancy)

  • red -> no relevancy
  • red/green -> no relevancy
  • green -> no relevancy

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

• With GPS attached

  • Will beep every minute the number of sats, until found enough (long beep + N x short beep + long beep, where N == numbers of SATs seen) .

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