蜂鸣器含义¶

Pixhawk-series flight controllers use audible tones/tunes and LEDs to indicate vehicle state and events (e.g. arming success and failure, low battery warnings).

The set of standard sounds are listed below.

Developers: Tunes are defined in /lib/tunes/tune_definition.desc and can be tested using the tune-control module. You can search for tune use using the string TUNE_ID_name(e.g. TUNE_ID_PARACHUTE_RELEASE)

Boot/Startup¶

These tunes are played during the boot sequence.

Startup Tone¶

microSD card successfully mounted (during boot).

Error Tune¶

Hard fault has caused a system reboot.
System set to use PX4IO but no IO present.
UAVCAN is enabled but driver can't start.
SITL/HITL enabled but pwm_out_sim driver can't start.
FMU startup failed.

Make File System¶

Formatting microSD card.
Mounting failed (if formatting succeeds boot sequence will try to mount again).
No microSD card.

Format Failed¶

Formatting microSD card failed (following previous attempt to mount card).

Program PX4IO¶

Starting to program PX4IO.

Program PX4IO Success¶

PX4IO programming succeeded.

Program PX4IO Fail¶

PX4IO programming failed.
PX4IO couldn't start.
AUX Mixer not found.

Operational¶

These tones/tunes are emitted during normal operation.

Error Tune¶

RC Loss

Notify Positive Tone¶

Calibration succeeded.
Successful mode change.
Command accepted (e.g. from MAVLink command protocol).
Safety switch off (vehicle can be armed).

Notify Neutral Tone¶

Mission is valid and has no warnings.
Airspeed calibration: supply more air pressure, or calibration complete.
Safety switch turned on/disarmed (safe to approach vehicle).

Notify Negative Tone¶

Calibration failed.
Calibration already completed.
Mission is invalid.
Command denied, failed, temporarily rejected (e.g. from MAVLink command protocol).
Arming/disarming transition denied (e.g. pre-flight checks failed, safety not disabled, system not in manual mode).
Reject mode transition.