ardupilot/ArduCopter/events.pde

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

/*
 *       This event will be called when the failsafe changes
 *       boolean failsafe reflects the current state
 */
static void failsafe_on_event()
{
    // This is how to handle a failsafe.
    switch(control_mode)
    {
    case AUTO:
        if (g.throttle_fs_action == 1) {
            // do_rtl sets the altitude to the current altitude by default
            set_mode(RTL);
            // We add an additional 10m to the current altitude
            //next_WP.alt += 1000;
            set_new_altitude(next_WP.alt + 1000);
        }
        //if (g.throttle_fs_action == 2)
        //  Stay in AUTO and ignore failsafe
        break;

    default:
        if(ap.home_is_set) {
            // same as above ^
            // do_rtl sets the altitude to the current altitude by default
            set_mode(RTL);
            // We add an additional 10m to the current altitude
            //next_WP.alt += 1000;
            set_new_altitude(next_WP.alt + 1000);
        }else{
            // We have no GPS so we must land
            set_mode(LAND);
        }
        break;
    }
}

static void failsafe_off_event()
{
    // If we are in AUTO, no need to do anything
    if(control_mode == AUTO)
        return;

    if (g.throttle_fs_action == 2) {
        // We're back in radio contact
        // return to AP
        // ---------------------------

        // re-read the switch so we can return to our preferred mode
        // --------------------------------------------------------
        reset_control_switch();


    }else if (g.throttle_fs_action == 1) {
        // We're back in radio contact
        // return to Home
        // we should already be in RTL and throttle set to cruise
        // ------------------------------------------------------
        set_mode(RTL);
    }
}

static void low_battery_event(void)
{
    static uint32_t last_low_battery_message;
    uint32_t tnow = millis();
    if (((uint32_t)(tnow - last_low_battery_message)) > 5000) {
        // only send this message at 5s intervals at most or we may
        // flood the link
        gcs_send_text_P(SEVERITY_LOW,PSTR("Low Battery!"));
        last_low_battery_message = tnow;
    }

    set_low_battery(true);
    // if we are in Auto mode, come home
    if(control_mode >= AUTO)
        set_mode(RTL);
}


static void update_events()     // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
{
    if(event_repeat == 0 || (millis() - event_timer) < event_delay)
        return;

    if (event_repeat > 0) {
        event_repeat--;
    }

    if(event_repeat != 0) {             // event_repeat = -1 means repeat forever
        event_timer = millis();

        if (event_id >= CH_5 && event_id <= CH_8) {
            if(event_repeat%2) {
                APM_RC.OutputCh(event_id, event_value);                 // send to Servos
            } else {
                APM_RC.OutputCh(event_id, event_undo_value);
            }
        }

        if  (event_id == RELAY_TOGGLE) {
            relay.toggle();
        }
    }
}