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

uncrustify ArduPlane/events.pde

This commit is contained in:
uncrustify 2012-08-16 17:50:15 -07:00 committed by Pat Hickey
parent 0683be294b
commit 9b133019b3
1 changed files with 79 additions and 79 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

158
ArduPlane/events.pde
View File

@ -3,115 +3,115 @@
static void failsafe_short_on_event(int16_t fstype) static void failsafe_short_on_event(int16_t fstype)
{ {
// This is how to handle a short loss of control signal failsafe. // This is how to handle a short loss of control signal failsafe.
failsafe = fstype; failsafe = fstype;
ch3_failsafe_timer = millis(); ch3_failsafe_timer = millis();
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event on, ")); gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event on, "));
switch(control_mode) switch(control_mode)
{ {
case MANUAL: case MANUAL:
case STABILIZE: case STABILIZE:
case FLY_BY_WIRE_A: // middle position case FLY_BY_WIRE_A: // middle position
case FLY_BY_WIRE_B: // middle position case FLY_BY_WIRE_B: // middle position
set_mode(CIRCLE); set_mode(CIRCLE);
break; break;
case AUTO: case AUTO:
case GUIDED: case GUIDED:
case LOITER: case LOITER:
if(g.short_fs_action == 1) { if(g.short_fs_action == 1) {
set_mode(RTL); set_mode(RTL);
} }
break; break;
case CIRCLE: case CIRCLE:
case RTL: case RTL:
default: default:
break; break;
} }
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode); gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
} }
static void failsafe_long_on_event(int16_t fstype) static void failsafe_long_on_event(int16_t fstype)
{ {
// This is how to handle a long loss of control signal failsafe. // This is how to handle a long loss of control signal failsafe.
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Long event on, ")); gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Long event on, "));
APM_RC.clearOverride(); // If the GCS is locked up we allow control to revert to RC APM_RC.clearOverride(); // If the GCS is locked up we allow control to revert to RC
failsafe = fstype; failsafe = fstype;
switch(control_mode) switch(control_mode)
{ {
case MANUAL: case MANUAL:
case STABILIZE: case STABILIZE:
case FLY_BY_WIRE_A: // middle position case FLY_BY_WIRE_A: // middle position
case FLY_BY_WIRE_B: // middle position case FLY_BY_WIRE_B: // middle position
case CIRCLE: case CIRCLE:
set_mode(RTL); set_mode(RTL);
break; break;
case AUTO: case AUTO:
case GUIDED: case GUIDED:
case LOITER: case LOITER:
if(g.long_fs_action == 1) { if(g.long_fs_action == 1) {
set_mode(RTL); set_mode(RTL);
} }
break; break;
case RTL: case RTL:
default: default:
break; break;
} }
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode); gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
} }
static void failsafe_short_off_event() static void failsafe_short_off_event()
{ {
// We're back in radio contact // We're back in radio contact
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event off")); gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event off"));
failsafe = FAILSAFE_NONE; failsafe = FAILSAFE_NONE;
// re-read the switch so we can return to our preferred mode // re-read the switch so we can return to our preferred mode
// -------------------------------------------------------- // --------------------------------------------------------
if (control_mode == CIRCLE || if (control_mode == CIRCLE ||
(g.short_fs_action == 1 && control_mode == RTL)) { (g.short_fs_action == 1 && control_mode == RTL)) {
reset_control_switch(); reset_control_switch();
} }
// Reset control integrators // Reset control integrators
// --------------------- // ---------------------
reset_I(); reset_I();
} }
#if BATTERY_EVENT == ENABLED #if BATTERY_EVENT == ENABLED
void low_battery_event(void) void low_battery_event(void)
{ {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Low Battery!")); gcs_send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
set_mode(RTL); set_mode(RTL);
g.throttle_cruise = THROTTLE_CRUISE; g.throttle_cruise = THROTTLE_CRUISE;
} }
#endif #endif
static void update_events(void) // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY static void update_events(void) // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
{ {
if(event_repeat == 0 || (millis() - event_timer_ms) < event_delay_ms) if(event_repeat == 0 || (millis() - event_timer_ms) < event_delay_ms)
return; return;
if (event_repeat > 0){ if (event_repeat > 0) {
event_repeat --; event_repeat--;
} }
if(event_repeat != 0) { // event_repeat = -1 means repeat forever if(event_repeat != 0) { // event_repeat = -1 means repeat forever
event_timer_ms = millis(); event_timer_ms = millis();
if (event_id >= CH_5 && event_id <= CH_8) { if (event_id >= CH_5 && event_id <= CH_8) {
if(event_repeat%2) { if(event_repeat%2) {
APM_RC.OutputCh(event_id, event_value); // send to Servos APM_RC.OutputCh(event_id, event_value); // send to Servos
} else { } else {
APM_RC.OutputCh(event_id, event_undo_value); APM_RC.OutputCh(event_id, event_undo_value);
} }
} }
if (event_id == RELAY_TOGGLE) { if (event_id == RELAY_TOGGLE) {
relay.toggle(); relay.toggle();
} }
} }
} }