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Copter: minor user hooks cleanup

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Only define and call functions if the appropriate #define in
APM_Config.h has been added
This commit is contained in:
Randy Mackay 2013-05-17 12:19:07 +09:00
parent 6a173eb7ad
commit 5b00ce24ed
3 changed files with 45 additions and 8 deletions
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6
ArduCopter/APM_Config.h
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@ -24,11 +24,11 @@
// User Hooks : For User Developed code that you wish to run // User Hooks : For User Developed code that you wish to run
// Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below). // Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below).
#define USERHOOK_VARIABLES "UserVariables.h" //#define USERHOOK_VARIABLES "UserVariables.h"
// Put your custom code into the UserCode.pde with function names matching those listed below and ensure the appropriate #define below is uncommented below // Put your custom code into the UserCode.pde with function names matching those listed below and ensure the appropriate #define below is uncommented below
#define USERHOOK_INIT userhook_init(); // for code to be run once at startup //#define USERHOOK_INIT userhook_init(); // for code to be run once at startup
//#define USERHOOK_FASTLOOP userhook_FastLoop(); // for code to be run at 100hz //#define USERHOOK_FASTLOOP userhook_FastLoop(); // for code to be run at 100hz
#define USERHOOK_50HZLOOP userhook_50Hz(); // for code to be run at 50hz //#define USERHOOK_50HZLOOP userhook_50Hz(); // for code to be run at 50hz
//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop(); // for code to be run at 10hz //#define USERHOOK_MEDIUMLOOP userhook_MediumLoop(); // for code to be run at 10hz
//#define USERHOOK_SLOWLOOP userhook_SlowLoop(); // for code to be run at 3.3hz //#define USERHOOK_SLOWLOOP userhook_SlowLoop(); // for code to be run at 3.3hz
//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop(); // for code to be run at 1hz //#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop(); // for code to be run at 1hz

39
ArduCopter/UserCode.pde
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@ -1,13 +1,44 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifdef USERHOOK_INIT
void userhook_init() void userhook_init()
{ {
// put your initialisation code here // put your initialisation code here
// this will be called once at start-up
} }
#endif
#ifdef USERHOOK_FASTLOOP
void userhook_FastLoop()
{
// put your 100Hz code here
}
#endif
#ifdef USERHOOK_50HZLOOP
void userhook_50Hz() void userhook_50Hz()
{ {
// put your 50Hz code here // put your 50Hz code here
} }
#endif
#ifdef USERHOOK_MEDIUMLOOP
void userhook_MediumLoop()
{
// put your 10Hz code here
}
#endif
#ifdef USERHOOK_SLOWLOOP
void userhook_SlowLoop()
{
// put your 3.3Hz code here
}
#endif
#ifdef USERHOOK_SUPERSLOWLOOP
void userhook_SuperSlowLoop()
{
// put your 1Hz code here
}
#endif

8
ArduCopter/UserVariables.h
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@ -1,13 +1,19 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// user defined variables // user defined variables
// example variables used in Wii camera testing - replace with your own // example variables used in Wii camera testing - replace with your own
// variables // variables
#ifdef USERHOOK_VARIABLES
#if WII_CAMERA == 1 #if WII_CAMERA == 1
WiiCamera ircam; WiiCamera ircam;
int WiiRange=0; int WiiRange=0;
int WiiRotation=0; int WiiRotation=0;
int WiiDisplacementX=0; int WiiDisplacementX=0;
int WiiDisplacementY=0; int WiiDisplacementY=0;
#endif #endif // WII_CAMERA
#endif // USERHOOK_VARIABLES