mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.1 KiB
Plaintext
54 lines
1.1 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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static void failsafe_long_on_event(int 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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hal.rcin->clear_overrides();
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failsafe = fstype;
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switch(control_mode)
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{
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case MANUAL:
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case LEARNING:
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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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set_mode(RTL);
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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 update_events(void) // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
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{
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if(event_repeat == 0 || (millis() - event_timer) < event_delay)
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return;
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if (event_repeat > 0){
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event_repeat --;
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}
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if(event_repeat != 0) { // event_repeat = -1 means repeat forever
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event_timer = millis();
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if (event_id >= CH_5 && event_id <= CH_8) {
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if(event_repeat%2) {
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hal.rcout->write(event_id, event_value); // send to Servos
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} else {
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hal.rcout->write(event_id, event_undo_value);
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}
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}
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if (event_id == RELAY_TOGGLE) {
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relay.toggle();
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}
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}
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}
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