From bfca0ff9bcacfce30b9210919186e4ab99a06738 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Fri, 9 Nov 2012 21:43:43 -0800
Subject: [PATCH] ACM: added ap_state.pde

---
 ArduCopter/AP_State.pde | 149 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 149 insertions(+)
 create mode 100644 ArduCopter/AP_State.pde

diff --git a/ArduCopter/AP_State.pde b/ArduCopter/AP_State.pde
new file mode 100644
index 0000000000..9088b4c811
--- /dev/null
+++ b/ArduCopter/AP_State.pde
@@ -0,0 +1,149 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+
+void set_home_is_set(bool b)
+{
+    ap.home_is_set 	= b;
+
+	if(b) Log_Write_Event(DATA_SET_HOME);
+}
+
+// ---------------------------------------------
+void set_armed(bool b)
+{
+	ap.armed = b;
+	if(b){
+		Log_Write_Event(DATA_ARMED);
+
+	}else{
+		Log_Write_Event(DATA_DISARMED);
+	}
+}
+
+// ---------------------------------------------
+void set_auto_armed(bool b)
+{
+	ap.auto_armed = b;
+	if(b){
+		Log_Write_Event(DATA_AUTO_ARMED);
+	}
+}
+
+// ---------------------------------------------
+void set_simple_mode(bool b)
+{
+	if(ap.simple_mode != b){
+		if(b){
+			Log_Write_Event(DATA_SET_SIMPLE_ON);
+		}else{
+			Log_Write_Event(DATA_SET_SIMPLE_OFF);
+		}
+	}
+	ap.simple_mode = b;
+}
+
+// ---------------------------------------------
+static void set_failsafe(bool mode)
+{
+    // only act on changes
+    // -------------------
+    if(ap.failsafe != mode) {
+
+        // store the value so we don't trip the gate twice
+        // -----------------------------------------------
+        //failsafe = mode;
+        ap.failsafe = mode;
+
+        if (ap.failsafe == false) {
+            // We've regained radio contact
+            // ----------------------------
+            failsafe_off_event();
+			Log_Write_Event(DATA_FAILSAFE_OFF);
+
+        }else{
+            // We've lost radio contact
+            // ------------------------
+            failsafe_on_event();
+            Log_Write_Event(DATA_FAILSAFE_ON);
+        }
+    }
+}
+
+
+// ---------------------------------------------
+void set_low_battery(bool b)
+{
+	if(ap.low_battery != b && true == b){
+		Log_Write_Event(DATA_LOW_BATTERY);
+	}
+	ap.low_battery = b;
+}
+
+// ---------------------------------------------
+void set_takeoff_complete(bool b)
+{
+	if(b){
+		Log_Write_Event(DATA_TAKEOFF);
+	}
+	ap.takeoff_complete = b;
+}
+
+// ---------------------------------------------
+void set_land_complete(bool b)
+{
+	if(b){
+		Log_Write_Event(DATA_LAND_COMPLETE);
+	}
+	ap.land_complete = b;
+}
+
+// ---------------------------------------------
+void set_rtl_reached_alt(bool b)
+{
+	if(b){
+		Log_Write_Event(DATA_RTL_REACHED_ALT);
+	}
+	ap.rtl_reached_alt = b;
+}
+
+// ---------------------------------------------
+
+void set_alt_change(uint8_t flag){
+	alt_change_flag = flag;
+
+	if(flag == REACHED_ALT){
+		Log_Write_Event(DATA_REACHED_ALT);
+
+	}else if(flag == ASCENDING){
+		Log_Write_Event(DATA_ASCENDING);
+
+	}else if(flag == DESCENDING){
+		Log_Write_Event(DATA_DESCENDING);
+	}
+}
+
+void set_compass_healthy(bool b)
+{
+	if(ap.compass_status != b){
+		if(false == b){
+			Log_Write_Event(DATA_LOST_COMPASS);
+		}
+	}
+	ap.compass_status = b;
+}
+
+void set_gps_healthy(bool b)
+{
+	if(ap.gps_status != b){
+		if(false == b){
+			Log_Write_Event(DATA_LOST_GPS);
+		}
+	}
+	ap.gps_status = b;
+}
+
+void dump_state()
+{
+    Serial.printf("st: %u\n",ap.value);
+	//Serial.printf("%u\n", *(uint16_t*)&ap);
+}