ardupilot/ArduSub/AP_State.cpp

#include "Sub.h"

// set_home_state - update home state
void Sub::set_home_state(enum HomeState new_home_state)
{
    // if no change, exit immediately
    if (ap.home_state == new_home_state) {
        return;
    }

    // update state
    ap.home_state = new_home_state;

    // log if home has been set
    if (new_home_state == HOME_SET_NOT_LOCKED || new_home_state == HOME_SET_AND_LOCKED) {
        Log_Write_Event(DATA_SET_HOME);
    }
}

// home_is_set - returns true if home positions has been set (to GPS location, armed location or EKF origin)
bool Sub::home_is_set()
{
    return (ap.home_state == HOME_SET_NOT_LOCKED || ap.home_state == HOME_SET_AND_LOCKED);
}

// ---------------------------------------------
void Sub::set_auto_armed(bool b)
{
    // if no change, exit immediately
    if (ap.auto_armed == b) {
        return;
    }

    ap.auto_armed = b;
    if (b) {
        Log_Write_Event(DATA_AUTO_ARMED);
    }
}

// ---------------------------------------------
void Sub::set_simple_mode(uint8_t b)
{
    if (ap.simple_mode != b) {
        if (b == 0) {
            Log_Write_Event(DATA_SET_SIMPLE_OFF);
            gcs().send_statustext(MAV_SEVERITY_INFO, 0XFF, "SIMPLE mode off");
        } else if (b == 1) {
            Log_Write_Event(DATA_SET_SIMPLE_ON);
            gcs().send_statustext(MAV_SEVERITY_INFO,  0XFF, "SIMPLE mode on");
        } else {
            // initialise super simple heading
            update_super_simple_bearing(true);
            Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
            gcs().send_statustext(MAV_SEVERITY_INFO,  0XFF, "SUPERSIMPLE mode on");
        }
        ap.simple_mode = b;
    }
}

// ---------------------------------------------
void Sub::set_failsafe_battery(bool b)
{
    failsafe.battery = b;
    AP_Notify::flags.failsafe_battery = b;
}

// ---------------------------------------------

void Sub::set_pre_arm_check(bool b)
{
    if (ap.pre_arm_check != b) {
        ap.pre_arm_check = b;
        AP_Notify::flags.pre_arm_check = b;
    }
}

void Sub::set_pre_arm_rc_check(bool b)
{
    if (ap.pre_arm_rc_check != b) {
        ap.pre_arm_rc_check = b;
    }
}

void Sub::update_using_interlock()
{
    // check if we are using motor interlock control on an aux switch
    ap.using_interlock = check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK);
}

void Sub::set_motor_emergency_stop(bool b)
{
    if (ap.motor_emergency_stop != b) {
        ap.motor_emergency_stop = b;
    }

    // Log new status
    if (ap.motor_emergency_stop) {
        Log_Write_Event(DATA_MOTORS_EMERGENCY_STOPPED);
    } else {
        Log_Write_Event(DATA_MOTORS_EMERGENCY_STOP_CLEARED);
    }
}