mirror of https://github.com/ArduPilot/ardupilot
uncrustify ArduPlane/events.pde
This commit is contained in:
uncrustify
Pat Hickey
parent
0683be294b
commit
9b133019b3
|
|
@ -3,115 +3,115 @@
|
|||
|
||||
static void failsafe_short_on_event(int16_t fstype)
|
||||
{
|
||||
// This is how to handle a short loss of control signal failsafe.
|
||||
failsafe = fstype;
|
||||
ch3_failsafe_timer = millis();
|
||||
// This is how to handle a short loss of control signal failsafe.
|
||||
failsafe = fstype;
|
||||
ch3_failsafe_timer = millis();
|
||||
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event on, "));
|
||||
switch(control_mode)
|
||||
{
|
||||
case MANUAL:
|
||||
case STABILIZE:
|
||||
case FLY_BY_WIRE_A: // middle position
|
||||
case FLY_BY_WIRE_B: // middle position
|
||||
set_mode(CIRCLE);
|
||||
break;
|
||||
switch(control_mode)
|
||||
{
|
||||
case MANUAL:
|
||||
case STABILIZE:
|
||||
case FLY_BY_WIRE_A: // middle position
|
||||
case FLY_BY_WIRE_B: // middle position
|
||||
set_mode(CIRCLE);
|
||||
break;
|
||||
|
||||
case AUTO:
|
||||
case GUIDED:
|
||||
case LOITER:
|
||||
if(g.short_fs_action == 1) {
|
||||
set_mode(RTL);
|
||||
}
|
||||
break;
|
||||
|
||||
case CIRCLE:
|
||||
case RTL:
|
||||
default:
|
||||
break;
|
||||
}
|
||||
case AUTO:
|
||||
case GUIDED:
|
||||
case LOITER:
|
||||
if(g.short_fs_action == 1) {
|
||||
set_mode(RTL);
|
||||
}
|
||||
break;
|
||||
|
||||
case CIRCLE:
|
||||
case RTL:
|
||||
default:
|
||||
break;
|
||||
}
|
||||
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
|
||||
}
|
||||
|
||||
static void failsafe_long_on_event(int16_t fstype)
|
||||
{
|
||||
// This is how to handle a long loss of control signal failsafe.
|
||||
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
|
||||
failsafe = fstype;
|
||||
switch(control_mode)
|
||||
{
|
||||
case MANUAL:
|
||||
case STABILIZE:
|
||||
case FLY_BY_WIRE_A: // middle position
|
||||
case FLY_BY_WIRE_B: // middle position
|
||||
case CIRCLE:
|
||||
set_mode(RTL);
|
||||
break;
|
||||
// This is how to handle a long loss of control signal failsafe.
|
||||
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
|
||||
failsafe = fstype;
|
||||
switch(control_mode)
|
||||
{
|
||||
case MANUAL:
|
||||
case STABILIZE:
|
||||
case FLY_BY_WIRE_A: // middle position
|
||||
case FLY_BY_WIRE_B: // middle position
|
||||
case CIRCLE:
|
||||
set_mode(RTL);
|
||||
break;
|
||||
|
||||
case AUTO:
|
||||
case GUIDED:
|
||||
case LOITER:
|
||||
if(g.long_fs_action == 1) {
|
||||
set_mode(RTL);
|
||||
}
|
||||
break;
|
||||
|
||||
case RTL:
|
||||
default:
|
||||
break;
|
||||
}
|
||||
case AUTO:
|
||||
case GUIDED:
|
||||
case LOITER:
|
||||
if(g.long_fs_action == 1) {
|
||||
set_mode(RTL);
|
||||
}
|
||||
break;
|
||||
|
||||
case RTL:
|
||||
default:
|
||||
break;
|
||||
}
|
||||
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
|
||||
}
|
||||
|
||||
static void failsafe_short_off_event()
|
||||
{
|
||||
// We're back in radio contact
|
||||
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event off"));
|
||||
failsafe = FAILSAFE_NONE;
|
||||
// We're back in radio contact
|
||||
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event off"));
|
||||
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 ||
|
||||
(g.short_fs_action == 1 && control_mode == RTL)) {
|
||||
reset_control_switch();
|
||||
}
|
||||
|
||||
// Reset control integrators
|
||||
// ---------------------
|
||||
reset_I();
|
||||
// Reset control integrators
|
||||
// ---------------------
|
||||
reset_I();
|
||||
}
|
||||
|
||||
#if BATTERY_EVENT == ENABLED
|
||||
void low_battery_event(void)
|
||||
{
|
||||
gcs_send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
|
||||
set_mode(RTL);
|
||||
g.throttle_cruise = THROTTLE_CRUISE;
|
||||
gcs_send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
|
||||
set_mode(RTL);
|
||||
g.throttle_cruise = THROTTLE_CRUISE;
|
||||
}
|
||||
#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)
|
||||
return;
|
||||
if(event_repeat == 0 || (millis() - event_timer_ms) < event_delay_ms)
|
||||
return;
|
||||
|
||||
if (event_repeat > 0){
|
||||
event_repeat --;
|
||||
}
|
||||
if (event_repeat > 0) {
|
||||
event_repeat--;
|
||||
}
|
||||
|
||||
if(event_repeat != 0) { // event_repeat = -1 means repeat forever
|
||||
event_timer_ms = millis();
|
||||
if(event_repeat != 0) { // event_repeat = -1 means repeat forever
|
||||
event_timer_ms = millis();
|
||||
|
||||
if (event_id >= CH_5 && event_id <= CH_8) {
|
||||
if(event_repeat%2) {
|
||||
APM_RC.OutputCh(event_id, event_value); // send to Servos
|
||||
} else {
|
||||
APM_RC.OutputCh(event_id, event_undo_value);
|
||||
}
|
||||
}
|
||||
if (event_id >= CH_5 && event_id <= CH_8) {
|
||||
if(event_repeat%2) {
|
||||
APM_RC.OutputCh(event_id, event_value); // send to Servos
|
||||
} else {
|
||||
APM_RC.OutputCh(event_id, event_undo_value);
|
||||
}
|
||||
}
|
||||
|
||||
if (event_id == RELAY_TOGGLE) {
|
||||
relay.toggle();
|
||||
}
|
||||
}
|
||||
if (event_id == RELAY_TOGGLE) {
|
||||
relay.toggle();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue