ardupilot/ArduCopter/events.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This event will be called when the failsafe changes
boolean failsafe reflects the current state
*/
static void failsafe_on_event()
{
// This is how to handle a failsafe.
switch(control_mode)
{
case AUTO:
if (g.throttle_fs_action == 1) {
set_mode(RTL);
// send up up 10m
next_WP.alt += 1000;
}
// 2 = Stay in AUTO and ignore failsafe
default:
if(home_is_set == true){
// home distance is in meters
// This is to prevent accidental RTL
if ((home_distance > 15) && (current_loc.alt > 400)){
set_mode(RTL);
// send up up 10m
next_WP.alt += 1000;
}
}else{
// We have no GPS so we must land
set_mode(LAND);
}
break;
}
}
static void failsafe_off_event()
{
if (g.throttle_fs_action == 2){
// We're back in radio contact
// return to AP
// ---------------------------
// re-read the switch so we can return to our preferred mode
// --------------------------------------------------------
reset_control_switch();
}else if (g.throttle_fs_action == 1){
// We're back in radio contact
// return to Home
// we should already be in RTL and throttle set to cruise
// ------------------------------------------------------
set_mode(RTL);
}
}
static void low_battery_event(void)
{
gcs_send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
low_batt = true;
// if we are in Auto mode, come home
if(control_mode >= AUTO)
set_mode(RTL);
}
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)
return;
if (event_repeat > 0){
event_repeat --;
}
if(event_repeat != 0) { // event_repeat = -1 means repeat forever
event_timer = 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 == RELAY_TOGGLE) {
relay.toggle();
}
}
}
#if PIEZO == ENABLED
void piezo_on()
{
digitalWrite(PIEZO_PIN,HIGH);
//PORTF |= B00100000;
}
void piezo_off()
{
digitalWrite(PIEZO_PIN,LOW);
//PORTF &= ~B00100000;
}
void piezo_beep()
{
// Note: This command should not be used in time sensitive loops
piezo_on();
delay(100);
piezo_off();
}
#endif