mirror of https://github.com/ArduPilot/ardupilot
534 lines
12 KiB
Plaintext
534 lines
12 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/********************************************************************************/
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// Command Event Handlers
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/********************************************************************************/
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static void
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handle_process_must()
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{
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// reset navigation integrators
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// -------------------------
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reset_I();
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switch(next_command.id){
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case MAV_CMD_NAV_TAKEOFF:
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do_takeoff();
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break;
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
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do_nav_wp();
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break;
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case MAV_CMD_NAV_LAND: // LAND to Waypoint
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do_land();
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break;
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case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
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do_loiter_unlimited();
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break;
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case MAV_CMD_NAV_LOITER_TURNS: // Loiter N Times
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do_loiter_turns();
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break;
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case MAV_CMD_NAV_LOITER_TIME:
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do_loiter_time();
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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do_RTL();
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break;
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default:
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break;
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}
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}
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static void
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handle_process_may()
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{
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switch(next_command.id){
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case MAV_CMD_CONDITION_DELAY:
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do_wait_delay();
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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do_within_distance();
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break;
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case MAV_CMD_CONDITION_CHANGE_ALT:
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do_change_alt();
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break;
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/* case MAV_CMD_NAV_LAND_OPTIONS: // TODO - Add the command or equiv to MAVLink (repair in verify_may() also)
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gcs_send_text_P(SEVERITY_LOW,PSTR("Landing options set"));
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// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
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landing_pitch = next_command.lng * 100;
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g.airspeed_cruise = next_command.alt * 100;
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g.throttle_cruise = next_command.lat;
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landing_distance = next_command.p1;
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//landing_roll = command.lng;
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SendDebug_P("MSG: throttle_cruise = ");
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SendDebugln(g.throttle_cruise,DEC);
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break;
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*/
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default:
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break;
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}
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}
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static void handle_process_now()
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{
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switch(next_command.id){
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case MAV_CMD_DO_JUMP:
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do_jump();
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break;
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case MAV_CMD_DO_CHANGE_SPEED:
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do_change_speed();
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break;
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case MAV_CMD_DO_SET_HOME:
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do_set_home();
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break;
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case MAV_CMD_DO_SET_SERVO:
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do_set_servo();
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break;
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case MAV_CMD_DO_SET_RELAY:
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do_set_relay();
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break;
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case MAV_CMD_DO_REPEAT_SERVO:
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do_repeat_servo();
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break;
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case MAV_CMD_DO_REPEAT_RELAY:
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do_repeat_relay();
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break;
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}
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}
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static void handle_no_commands()
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{
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next_command = home;
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next_command.alt = read_alt_to_hold();
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next_command.id = MAV_CMD_NAV_LOITER_UNLIM;
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}
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/********************************************************************************/
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// Verify command Handlers
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/********************************************************************************/
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static bool verify_must()
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{
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switch(command_must_ID) {
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case MAV_CMD_NAV_TAKEOFF:
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return verify_takeoff();
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break;
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case MAV_CMD_NAV_LAND:
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return verify_land();
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break;
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case MAV_CMD_NAV_WAYPOINT:
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return verify_nav_wp();
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break;
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case MAV_CMD_NAV_LOITER_UNLIM:
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return verify_loiter_unlim();
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break;
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case MAV_CMD_NAV_LOITER_TURNS:
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return verify_loiter_turns();
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break;
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case MAV_CMD_NAV_LOITER_TIME:
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return verify_loiter_time();
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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return verify_RTL();
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break;
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default:
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gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_must: Invalid or no current Nav cmd"));
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return false;
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break;
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}
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}
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static bool verify_may()
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{
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switch(command_may_ID) {
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case NO_COMMAND:
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break;
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case MAV_CMD_CONDITION_DELAY:
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return verify_wait_delay();
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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return verify_within_distance();
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break;
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case MAV_CMD_CONDITION_CHANGE_ALT:
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return verify_change_alt();
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break;
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default:
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gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_may: Invalid or no current Condition cmd"));
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break;
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}
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return false;
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}
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/********************************************************************************/
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// Nav (Must) commands
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/********************************************************************************/
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static void do_RTL(void)
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{
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control_mode = RTL;
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crash_timer = 0;
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next_WP = home;
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// Altitude to hold over home
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// Set by configuration tool
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// -------------------------
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next_WP.alt = read_alt_to_hold();
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if (g.log_bitmask & MASK_LOG_MODE)
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Log_Write_Mode(control_mode);
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}
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static void do_takeoff()
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{
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set_next_WP(&next_command);
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// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
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takeoff_pitch = (int)next_command.p1 * 100;
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//Serial.printf_P(PSTR("TO pitch:")); Serial.println(takeoff_pitch);
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//Serial.printf_P(PSTR("home.alt:")); Serial.println(home.alt);
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takeoff_altitude = next_command.alt;
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//Serial.printf_P(PSTR("takeoff_altitude:")); Serial.println(takeoff_altitude);
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next_WP.lat = home.lat + 1000; // so we don't have bad calcs
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next_WP.lng = home.lng + 1000; // so we don't have bad calcs
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takeoff_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction
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}
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static void do_nav_wp()
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{
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set_next_WP(&next_command);
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}
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static void do_land()
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{
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set_next_WP(&next_command);
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}
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static void do_loiter_unlimited()
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{
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set_next_WP(&next_command);
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}
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static void do_loiter_turns()
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{
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set_next_WP(&next_command);
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loiter_total = next_command.p1 * 360;
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}
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static void do_loiter_time()
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{
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set_next_WP(&next_command);
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loiter_time = millis();
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loiter_time_max = next_command.p1; // units are (seconds * 10)
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}
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/********************************************************************************/
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// Verify Nav (Must) commands
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/********************************************************************************/
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static bool verify_takeoff()
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{
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if (g_gps->ground_speed > 300){
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if(hold_course == -1){
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// save our current course to take off
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if(g.compass_enabled) {
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hold_course = dcm.yaw_sensor;
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} else {
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hold_course = g_gps->ground_course;
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}
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}
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}
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if(hold_course > -1){
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// recalc bearing error with hold_course;
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nav_bearing = hold_course;
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// recalc bearing error
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calc_bearing_error();
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}
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if (current_loc.alt > takeoff_altitude) {
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hold_course = -1;
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takeoff_complete = true;
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return true;
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} else {
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return false;
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}
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}
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static bool verify_land()
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{
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// we don't verify landing - we never go to a new Must command after Land
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if (((wp_distance > 0) && (wp_distance <= (2*g_gps->ground_speed/100)))
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|| (current_loc.alt <= next_WP.alt + 300)){
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land_complete = 1; //Set land_complete if we are within 2 seconds distance or within 3 meters altitude
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if(hold_course == -1){
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// save our current course to land
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//hold_course = yaw_sensor;
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// save the course line of the runway to land
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hold_course = crosstrack_bearing;
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}
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}
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if(hold_course > -1){
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// recalc bearing error with hold_course;
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nav_bearing = hold_course;
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// recalc bearing error
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calc_bearing_error();
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}
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update_crosstrack();
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return false;
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}
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static bool verify_nav_wp()
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{
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hold_course = -1;
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update_crosstrack();
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if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) {
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//SendDebug_P("MSG <verify_must: MAV_CMD_NAV_WAYPOINT> REACHED_WAYPOINT #");
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//SendDebugln(command_must_index,DEC);
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char message[30];
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sprintf(message,"Reached Waypoint #%i",command_must_index);
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gcs_send_text(SEVERITY_LOW,message);
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return true;
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}
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// add in a more complex case
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// Doug to do
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if(loiter_sum > 300){
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gcs_send_text_P(SEVERITY_MEDIUM,PSTR("<verify_must: MAV_CMD_NAV_WAYPOINT> Missed WP"));
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return true;
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}
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return false;
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}
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static bool verify_loiter_unlim()
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{
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update_loiter();
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calc_bearing_error();
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return false;
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}
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static bool verify_loiter_time()
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{
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update_loiter();
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calc_bearing_error();
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if ((millis() - loiter_time) > (unsigned long)loiter_time_max * 10000l) { // scale loiter_time_max from (sec*10) to milliseconds
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gcs_send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER time complete"));
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return true;
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}
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return false;
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}
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static bool verify_loiter_turns()
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{
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update_loiter();
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calc_bearing_error();
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if(loiter_sum > loiter_total) {
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loiter_total = 0;
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gcs_send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER orbits complete"));
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// clear the command queue;
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return true;
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}
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return false;
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}
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static bool verify_RTL()
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{
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if (wp_distance <= g.waypoint_radius) {
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gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home"));
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return true;
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}else{
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return false;
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}
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}
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/********************************************************************************/
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// Condition (May) commands
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/********************************************************************************/
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static void do_wait_delay()
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{
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condition_start = millis();
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condition_value = next_command.lat * 1000; // convert to milliseconds
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}
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static void do_change_alt()
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{
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condition_rate = next_command.lat;
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condition_value = next_command.alt;
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target_altitude = current_loc.alt + (condition_rate / 10); // Divide by ten for 10Hz update
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next_WP.alt = condition_value; // For future nav calculations
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offset_altitude = 0; // For future nav calculations
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}
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static void do_within_distance()
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{
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condition_value = next_command.lat;
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}
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/********************************************************************************/
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// Verify Condition (May) commands
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/********************************************************************************/
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static bool verify_wait_delay()
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{
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if ((unsigned)(millis() - condition_start) > condition_value){
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condition_value = 0;
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return true;
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}
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return false;
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}
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static bool verify_change_alt()
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{
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if( (condition_rate>=0 && current_loc.alt >= condition_value) || (condition_rate<=0 && current_loc.alt <= condition_value)) {
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condition_value = 0;
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return true;
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}
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target_altitude += condition_rate / 10;
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return false;
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}
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static bool verify_within_distance()
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{
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if (wp_distance < condition_value){
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condition_value = 0;
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return true;
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}
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return false;
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}
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/********************************************************************************/
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// Do (Now) commands
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/********************************************************************************/
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static void do_loiter_at_location()
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{
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next_WP = current_loc;
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}
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static void do_jump()
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{
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struct Location temp;
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if(next_command.lat > 0) {
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command_must_index = 0;
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command_may_index = 0;
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temp = get_wp_with_index(g.waypoint_index);
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temp.lat = next_command.lat - 1; // Decrement repeat counter
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set_wp_with_index(temp, g.waypoint_index);
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g.waypoint_index.set_and_save(next_command.p1 - 1);
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} else if (next_command.lat == -1) {
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g.waypoint_index.set_and_save(next_command.p1 - 1);
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}
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}
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static void do_change_speed()
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{
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// Note: we have no implementation for commanded ground speed, only air speed and throttle
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if(next_command.alt > 0)
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g.airspeed_cruise.set_and_save(next_command.alt * 100);
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if(next_command.lat > 0)
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g.throttle_cruise.set_and_save(next_command.lat);
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}
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static void do_set_home()
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{
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if(next_command.p1 == 1 && GPS_enabled) {
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init_home();
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} else {
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home.id = MAV_CMD_NAV_WAYPOINT;
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home.lng = next_command.lng; // Lon * 10**7
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home.lat = next_command.lat; // Lat * 10**7
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home.alt = max(next_command.alt, 0);
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home_is_set = true;
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}
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}
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static void do_set_servo()
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{
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APM_RC.OutputCh(next_command.p1 - 1, next_command.alt);
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}
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static void do_set_relay()
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{
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if (next_command.p1 == 1) {
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relay_on();
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} else if (next_command.p1 == 0) {
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relay_off();
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}else{
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relay_toggle();
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}
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}
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static void do_repeat_servo()
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{
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event_id = next_command.p1 - 1;
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if(next_command.p1 >= CH_5 + 1 && next_command.p1 <= CH_8 + 1) {
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event_timer = 0;
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event_delay = next_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
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event_repeat = next_command.lat * 2;
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event_value = next_command.alt;
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switch(next_command.p1) {
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case CH_5:
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event_undo_value = g.rc_5.radio_trim;
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break;
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case CH_6:
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event_undo_value = g.rc_6.radio_trim;
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break;
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case CH_7:
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event_undo_value = g.rc_7.radio_trim;
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break;
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case CH_8:
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event_undo_value = g.rc_8.radio_trim;
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break;
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}
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update_events();
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}
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}
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static void do_repeat_relay()
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{
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event_id = RELAY_TOGGLE;
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event_timer = 0;
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event_delay = next_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
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event_repeat = next_command.alt * 2;
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update_events();
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}
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