Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: Add SuperSimpleMode "2" to Simple Mode setting.

This commit is contained in:
murata 2017-05-07 09:30:50 +09:00 committed by Randy Mackay
parent d9223165c7
commit 8fd9c73b78
1 changed files with 21 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

36
ArduCopter/AP_State.cpp
View File

@ -36,24 +36,30 @@ void Copter::set_auto_armed(bool b)
}
// ---------------------------------------------
/**
* Set Simple mode
*
* @param [in] b 0:false or disabled, 1:true or SIMPLE, 2:SUPERSIMPLE
*/
void Copter::set_simple_mode(uint8_t b)
{
if(ap.simple_mode != b){
if (ap.simple_mode != b) {
switch (b) {
case 0:
Log_Write_Event(DATA_SET_SIMPLE_OFF);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode off");
break;
case 1:
Log_Write_Event(DATA_SET_SIMPLE_ON);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode on");
break;
default:
// initialise super simple heading
update_super_simple_bearing(true);
Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on");
break;
case 0:
Log_Write_Event(DATA_SET_SIMPLE_OFF);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode off");
break;
case 1:
Log_Write_Event(DATA_SET_SIMPLE_ON);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode on");
break;
case 2:
default:
// initialise super simple heading
update_super_simple_bearing(true);
Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on");
break;
}
ap.simple_mode = b;
}