ardupilot/ArduPlane/events.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
static void failsafe_short_on_event(int fstype)
{
// This is how to handle a short loss of control signal failsafe.
failsafe = fstype;
ch3_failsafe_timer = millis();
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event on, "));
switch(control_mode)
{
case MANUAL:
case STABILIZE:
case FLY_BY_WIRE_A: // middle position
case FLY_BY_WIRE_B: // middle position
set_mode(CIRCLE);
break;
case AUTO:
case GUIDED:
case LOITER:
if(g.short_fs_action == 1) {
set_mode(RTL);
}
break;
case CIRCLE:
case RTL:
default:
break;
}
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
}
static void failsafe_long_on_event(int fstype)
{
// This is how to handle a long loss of control signal failsafe.
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Long event on, "));
APM_RC.clearOverride(); // If the GCS is locked up we allow control to revert to RC
failsafe = fstype;
switch(control_mode)
{
case MANUAL:
case STABILIZE:
case FLY_BY_WIRE_A: // middle position
case FLY_BY_WIRE_B: // middle position
case CIRCLE:
set_mode(RTL);
break;
case AUTO:
case GUIDED:
case LOITER:
if(g.long_fs_action == 1) {
set_mode(RTL);
}
break;
case RTL:
default:
break;
}
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
}
static void failsafe_short_off_event()
{
// We're back in radio contact
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event off"));
failsafe = FAILSAFE_NONE;
// re-read the switch so we can return to our preferred mode
// --------------------------------------------------------
reset_control_switch();
// Reset control integrators
// ---------------------
reset_I();
}
#if BATTERY_EVENT == ENABLED
static void low_battery_event(void)
{
gcs_send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
set_mode(RTL);
g.throttle_cruise = THROTTLE_CRUISE;
}
#endif
static void update_events(void) // 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();
}
}
}