mirror of https://github.com/ArduPilot/ardupilot
139 lines
3.6 KiB
Plaintext
139 lines
3.6 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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static void failsafe_short_on_event(enum failsafe_state fstype)
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{
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// This is how to handle a short loss of control signal failsafe.
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failsafe.state = fstype;
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failsafe.ch3_timer_ms = millis();
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gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event on, "));
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switch(control_mode)
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{
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case MANUAL:
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case STABILIZE:
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case ACRO:
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case FLY_BY_WIRE_A:
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case FLY_BY_WIRE_B:
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case CRUISE:
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case TRAINING:
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failsafe.saved_mode = control_mode;
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failsafe.saved_mode_set = 1;
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set_mode(CIRCLE);
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break;
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case AUTO:
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case GUIDED:
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case LOITER:
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if(g.short_fs_action == 1) {
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failsafe.saved_mode = control_mode;
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failsafe.saved_mode_set = 1;
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set_mode(CIRCLE);
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}
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break;
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case CIRCLE:
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case RTL:
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default:
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break;
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}
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gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
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}
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static void failsafe_long_on_event(enum failsafe_state fstype)
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{
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// This is how to handle a long loss of control signal failsafe.
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gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Long event on, "));
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// If the GCS is locked up we allow control to revert to RC
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hal.rcin->clear_overrides();
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failsafe.state = fstype;
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switch(control_mode)
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{
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case MANUAL:
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case STABILIZE:
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case ACRO:
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case FLY_BY_WIRE_A:
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case FLY_BY_WIRE_B:
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case CRUISE:
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case TRAINING:
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case CIRCLE:
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set_mode(RTL);
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break;
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case AUTO:
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case GUIDED:
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case LOITER:
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if(g.long_fs_action == 1) {
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set_mode(RTL);
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}
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break;
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case RTL:
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default:
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break;
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}
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gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
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}
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static void failsafe_short_off_event()
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{
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// We're back in radio contact
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gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event off"));
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failsafe.state = FAILSAFE_NONE;
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// re-read the switch so we can return to our preferred mode
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// --------------------------------------------------------
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if (control_mode == CIRCLE && failsafe.saved_mode_set) {
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failsafe.saved_mode_set = 0;
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set_mode(failsafe.saved_mode);
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}
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}
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void low_battery_event(void)
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{
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if (battery.low_batttery) {
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return;
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}
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gcs_send_text_fmt(PSTR("Low Battery %.2fV Used %.0f mAh"),
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battery.voltage, battery.current_total_mah);
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set_mode(RTL);
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aparm.throttle_cruise.load();
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battery.low_batttery = true;
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}
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////////////////////////////////////////////////////////////////////////////////
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// repeating event control
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/*
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update state for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
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*/
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static void update_events(void)
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{
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if (event_state.repeat == 0 || (millis() - event_state.start_time_ms) < event_state.delay_ms) {
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return;
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}
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// event_repeat = -1 means repeat forever
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if (event_state.repeat != 0) {
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event_state.start_time_ms = millis();
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switch (event_state.type) {
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case EVENT_TYPE_SERVO:
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hal.rcout->enable_ch(event_state.rc_channel);
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if (event_state.repeat & 1) {
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servo_write(event_state.rc_channel, event_state.undo_value);
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} else {
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servo_write(event_state.rc_channel, event_state.servo_value);
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}
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break;
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case EVENT_TYPE_RELAY:
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relay.toggle();
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break;
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}
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if (event_state.repeat > 0) {
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event_state.repeat--;
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}
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}
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}
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