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Copter: integrate AP_Notify batt and radio failsafes

This commit is contained in:
Randy Mackay 2013-09-11 14:36:38 +09:00
parent b3c636dfa3
commit 152f5da880
1 changed files with 16 additions and 12 deletions
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28
ArduCopter/AP_State.pde
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@ -27,30 +27,30 @@ void set_auto_armed(bool b)
}
// ---------------------------------------------
void set_simple_mode(uint8_t t)
void set_simple_mode(uint8_t b)
{
if(ap.simple_mode != t){
if(t == 0){
if(ap.simple_mode != b){
if(b == 0){
Log_Write_Event(DATA_SET_SIMPLE_OFF);
}else if(t == 1){
}else if(b == 1){
Log_Write_Event(DATA_SET_SIMPLE_ON);
}else{
Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
}
ap.simple_mode = t;
ap.simple_mode = b;
}
}
// ---------------------------------------------
static void set_failsafe_radio(bool mode)
static void set_failsafe_radio(bool b)
{
// only act on changes
// -------------------
if(ap.failsafe_radio != mode) {
if(ap.failsafe_radio != b) {
// store the value so we don't trip the gate twice
// -----------------------------------------------
ap.failsafe_radio = mode;
ap.failsafe_radio = b;
if (ap.failsafe_radio == false) {
// We've regained radio contact
@ -61,6 +61,9 @@ static void set_failsafe_radio(bool mode)
// ------------------------
failsafe_radio_on_event();
}
// update AP_Notify
AP_Notify::flags.failsafe_radio = b;
}
}
@ -69,19 +72,20 @@ static void set_failsafe_radio(bool mode)
void set_low_battery(bool b)
{
ap.low_battery = b;
AP_Notify::flags.failsafe_battery = b;
}
// ---------------------------------------------
static void set_failsafe_gps(bool mode)
static void set_failsafe_gps(bool b)
{
ap.failsafe_gps = mode;
ap.failsafe_gps = b;
}
// ---------------------------------------------
static void set_failsafe_gcs(bool mode)
static void set_failsafe_gcs(bool b)
{
ap.failsafe_gcs = mode;
ap.failsafe_gcs = b;
}
// ---------------------------------------------