PX4/pixhawk提示音含义

前段时间用Rflysim工具做PX4的二次开发，烧录完代码后上电，飞控板有时候无法正常启动，有类似电话挂断后的“嘟 ~ 嘟~ 嘟~”的提示音，不知道什么原因，在网上找了一下资料，相关的很少。

最后还是科学上网看的官方资料找到原因是io没启动，估计是飞控内存或者运算能力不够，换成了性能更好的cubeblack解决了问题。

这里搬运过来，供需要的同学查询。px4的官网有时候需要科学上网才能访问，有时不需要。能科学上网的可以直接点击链接link进去查看。

或者看下面的介绍，因为自己对px4的了解也不多，所以直接复制英文过来，大家根据需要自己查阅，链接link: 提取码:ubx3，里面有提示音的文件，对照着

启动中的提示音（Boot/Startup）

• 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.

操作过程中的提示音（Operational）

• 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.
• Arming Warning
  • Vehicle is now armed.
• Arming Failure Tune
• Battery Warning Slow
  • Low battery warning (failsafe).
• Battery Warning Fast
  • Critical low battery warning (failsafe).
• GPS Warning Slow
  • Critical low battery warning (failsafe).
• Parachute Release
• EKF Warning
• Baro Warning
• Single Beep
  • Magnetometer/Compass calibration: Notify user to start rotating vehicle.
• Home Set Tune
  • Home position initialised (first time only).