mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.2 KiB
Plaintext
50 lines
1.2 KiB
Plaintext
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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void waypoint_check()
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{
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if(g.waypoint_index > 1 && g.waypoint_index <=18){ // Between these waypoints it will do what you want
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if(wp_distance < 10){ // Get as close as it can for you
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servo_pic();
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} // DO SOMETHIMNG
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}
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if(g.waypoint_index == 20){ // When here do whats underneath
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servo_pic();
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}
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}
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void picture_time_check()
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{
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if (picture_time == 1){
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if (wp_distance < 10){
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servo_pic(); // or any camera activation command
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}
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}
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}
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void egg_waypoint()
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{
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float temp = (float)(current_loc.alt - home.alt) * .01;
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float egg_dist = sqrt(temp / 4.903) * (float)g_gps->ground_speed *.01;
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if(g.waypoint_index == 3){
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if(wp_distance < egg_dist){
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APM_RC.OutputCh(CH_RUDDER,1500 + (-45*10.31));
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}
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}else{
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APM_RC.OutputCh(CH_RUDDER,1500 + (45*10.31));
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}
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}
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void johann_check() // if you aren't Johann it doesn't really matter :D
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{
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APM_RC.OutputCh(CH_7,1500 + (350));
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if(g.waypoint_index > 1 && g.waypoint_index <=18){ // Between these waypoints it will do what you want
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if(wp_distance < 10){ // Get as close as it can for you
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servo_pic();
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}
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}
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if(g.waypoint_index == 20){ // When here do whats underneath
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servo_pic();
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}
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}
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