ardupilot/ArduCopter/AP_State.pde

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


void set_home_is_set(bool b)
{
    // if no change, exit immediately
    if( ap.home_is_set == b )
        return;

    ap.home_is_set 	= b;
    if(b) {
        Log_Write_Event(DATA_SET_HOME);
    }
}

// ---------------------------------------------
void 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 set_simple_mode(uint8_t b)
{
    if(ap.simple_mode != b){
        if(b == 0){
            Log_Write_Event(DATA_SET_SIMPLE_OFF);
        }else if(b == 1){
            Log_Write_Event(DATA_SET_SIMPLE_ON);
        }else{
            Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
        }
        ap.simple_mode = b;
    }
}

// ---------------------------------------------
static void set_failsafe_radio(bool b)
{
    // only act on changes
    // -------------------
    if(failsafe.radio != b) {

        // store the value so we don't trip the gate twice
        // -----------------------------------------------
        failsafe.radio = b;

        if (failsafe.radio == false) {
            // We've regained radio contact
            // ----------------------------
            failsafe_radio_off_event();
        }else{
            // We've lost radio contact
            // ------------------------
            failsafe_radio_on_event();
        }

        // update AP_Notify
        AP_Notify::flags.failsafe_radio = b;
    }
}


// ---------------------------------------------
void set_low_battery(bool b)
{
    failsafe.low_battery = b;
    AP_Notify::flags.failsafe_battery = b;
}


// ---------------------------------------------
static void set_failsafe_gps(bool b)
{
    failsafe.gps = b;

    // update AP_Notify
    AP_Notify::flags.failsafe_gps = b;
}

// ---------------------------------------------
static void set_failsafe_gcs(bool b)
{
    failsafe.gcs = b;
}

// ---------------------------------------------
void set_takeoff_complete(bool b)
{
    // if no change, exit immediately
    if( ap.takeoff_complete == b )
        return;

    if(b){
        Log_Write_Event(DATA_TAKEOFF);
    }
    ap.takeoff_complete = b;
}

// ---------------------------------------------
void set_land_complete(bool b)
{
    // if no change, exit immediately
    if( ap.land_complete == b )
        return;

    if(b){
        Log_Write_Event(DATA_LAND_COMPLETE);
    }else{
        Log_Write_Event(DATA_NOT_LANDED);
    }
    ap.land_complete = b;
}

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

void set_compass_healthy(bool b)
{
    if(ap.compass_status != b) {
        if(b) {
            // compass has just recovered so log to the dataflash
            Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_ERROR_RESOLVED);
        }else{
            // compass has just failed so log an error to the dataflash
            Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_COMPASS_FAILED_TO_READ);
        }
    }
    ap.compass_status = b;
}

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

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