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uncrustify ArduCopter/events.pde

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uncrustify 2012-08-16 17:50:02 -07:00 committed by Pat Hickey
parent f62681634b
commit bcad02a1ba
1 changed files with 71 additions and 71 deletions
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142
ArduCopter/events.pde
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@ -1,65 +1,65 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/* /*
This event will be called when the failsafe changes * This event will be called when the failsafe changes
boolean failsafe reflects the current state * boolean failsafe reflects the current state
*/ */
static void failsafe_on_event() static void failsafe_on_event()
{ {
// This is how to handle a failsafe. // This is how to handle a failsafe.
switch(control_mode) switch(control_mode)
{ {
case AUTO: case AUTO:
if (g.throttle_fs_action == 1) { if (g.throttle_fs_action == 1) {
// do_rtl sets the altitude to the current altitude by default // do_rtl sets the altitude to the current altitude by default
set_mode(RTL); set_mode(RTL);
// We add an additional 10m to the current altitude // We add an additional 10m to the current altitude
//next_WP.alt += 1000; //next_WP.alt += 1000;
set_new_altitude(next_WP.alt + 1000); set_new_altitude(next_WP.alt + 1000);
} }
//if (g.throttle_fs_action == 2) //if (g.throttle_fs_action == 2)
// Stay in AUTO and ignore failsafe // Stay in AUTO and ignore failsafe
break; break;
default: default:
if(home_is_set == true){ if(home_is_set == true) {
// same as above ^ // same as above ^
// do_rtl sets the altitude to the current altitude by default // do_rtl sets the altitude to the current altitude by default
set_mode(RTL); set_mode(RTL);
// We add an additional 10m to the current altitude // We add an additional 10m to the current altitude
//next_WP.alt += 1000; //next_WP.alt += 1000;
set_new_altitude(next_WP.alt + 1000); set_new_altitude(next_WP.alt + 1000);
}else{ }else{
// We have no GPS so we must land // We have no GPS so we must land
set_mode(LAND); set_mode(LAND);
} }
break; break;
} }
} }
static void failsafe_off_event() static void failsafe_off_event()
{ {
// If we are in AUTO, no need to do anything // If we are in AUTO, no need to do anything
if(control_mode == AUTO) if(control_mode == AUTO)
return; return;
if (g.throttle_fs_action == 2){ if (g.throttle_fs_action == 2) {
// We're back in radio contact // We're back in radio contact
// return to AP // return to AP
// --------------------------- // ---------------------------
// re-read the switch so we can return to our preferred mode // re-read the switch so we can return to our preferred mode
// -------------------------------------------------------- // --------------------------------------------------------
reset_control_switch(); reset_control_switch();
}else if (g.throttle_fs_action == 1){ }else if (g.throttle_fs_action == 1) {
// We're back in radio contact // We're back in radio contact
// return to Home // return to Home
// we should already be in RTL and throttle set to cruise // we should already be in RTL and throttle set to cruise
// ------------------------------------------------------ // ------------------------------------------------------
set_mode(RTL); set_mode(RTL);
} }
} }
static void low_battery_event(void) static void low_battery_event(void)
@ -73,37 +73,37 @@ static void low_battery_event(void)
last_low_battery_message = tnow; last_low_battery_message = tnow;
} }
low_batt = true; low_batt = true;
// if we are in Auto mode, come home // if we are in Auto mode, come home
if(control_mode >= AUTO) if(control_mode >= AUTO)
set_mode(RTL); set_mode(RTL);
} }
static void update_events() // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY static void update_events() // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
{ {
if(event_repeat == 0 || (millis() - event_timer) < event_delay) if(event_repeat == 0 || (millis() - event_timer) < event_delay)
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 = millis(); event_timer = 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();
} }
} }
} }