mirror of https://github.com/ArduPilot/ardupilot
116 lines
2.3 KiB
Plaintext
116 lines
2.3 KiB
Plaintext
// -*- 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
|