mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-07 16:38:30 -04:00
672fdfbf71
Failsafe events changed to errors so they are more obvious. Errors recorded to dataflash for failure to init compass and optical flow sensor. Errors recorded for pwm failure. Resolved a compile error when dataflash logging is disabled.
141 lines
2.6 KiB
Plaintext
141 lines
2.6 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
|
|
void set_home_is_set(bool b)
|
|
{
|
|
ap.home_is_set = b;
|
|
|
|
if(b) Log_Write_Event(DATA_SET_HOME);
|
|
}
|
|
|
|
// ---------------------------------------------
|
|
void set_armed(bool b)
|
|
{
|
|
ap.armed = b;
|
|
if(b){
|
|
Log_Write_Event(DATA_ARMED);
|
|
|
|
}else{
|
|
Log_Write_Event(DATA_DISARMED);
|
|
}
|
|
}
|
|
|
|
// ---------------------------------------------
|
|
void set_auto_armed(bool b)
|
|
{
|
|
ap.auto_armed = b;
|
|
if(b){
|
|
Log_Write_Event(DATA_AUTO_ARMED);
|
|
}
|
|
}
|
|
|
|
// ---------------------------------------------
|
|
void set_simple_mode(bool b)
|
|
{
|
|
if(ap.simple_mode != b){
|
|
if(b){
|
|
Log_Write_Event(DATA_SET_SIMPLE_ON);
|
|
}else{
|
|
Log_Write_Event(DATA_SET_SIMPLE_OFF);
|
|
}
|
|
}
|
|
ap.simple_mode = b;
|
|
}
|
|
|
|
// ---------------------------------------------
|
|
static void set_failsafe(bool mode)
|
|
{
|
|
// only act on changes
|
|
// -------------------
|
|
if(ap.failsafe != mode) {
|
|
|
|
// store the value so we don't trip the gate twice
|
|
// -----------------------------------------------
|
|
ap.failsafe = mode;
|
|
|
|
if (ap.failsafe == false) {
|
|
// We've regained radio contact
|
|
// ----------------------------
|
|
failsafe_off_event();
|
|
}else{
|
|
// We've lost radio contact
|
|
// ------------------------
|
|
failsafe_on_event();
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
// ---------------------------------------------
|
|
void set_low_battery(bool b)
|
|
{
|
|
ap.low_battery = b;
|
|
}
|
|
|
|
// ---------------------------------------------
|
|
void set_takeoff_complete(bool b)
|
|
{
|
|
if(b){
|
|
Log_Write_Event(DATA_TAKEOFF);
|
|
}
|
|
ap.takeoff_complete = b;
|
|
}
|
|
|
|
// ---------------------------------------------
|
|
void set_land_complete(bool b)
|
|
{
|
|
if(b){
|
|
Log_Write_Event(DATA_LAND_COMPLETE);
|
|
}
|
|
ap.land_complete = b;
|
|
}
|
|
|
|
// ---------------------------------------------
|
|
|
|
void set_alt_change(uint8_t flag){
|
|
|
|
// if no change, exit immediately
|
|
if( alt_change_flag == flag ) {
|
|
return;
|
|
}
|
|
|
|
// update flag
|
|
alt_change_flag = flag;
|
|
|
|
if(flag == REACHED_ALT){
|
|
Log_Write_Event(DATA_REACHED_ALT);
|
|
|
|
}else if(flag == ASCENDING){
|
|
Log_Write_Event(DATA_ASCENDING);
|
|
|
|
}else if(flag == DESCENDING){
|
|
Log_Write_Event(DATA_DESCENDING);
|
|
}
|
|
}
|
|
|
|
void set_compass_healthy(bool b)
|
|
{
|
|
if(ap.compass_status != b){
|
|
if(false == b){
|
|
Log_Write_Event(DATA_LOST_COMPASS);
|
|
}
|
|
}
|
|
ap.compass_status = b;
|
|
}
|
|
|
|
void set_gps_healthy(bool b)
|
|
{
|
|
if(ap.gps_status != b){
|
|
if(false == b){
|
|
Log_Write_Event(DATA_LOST_GPS);
|
|
}
|
|
}
|
|
ap.gps_status = b;
|
|
}
|
|
|
|
void dump_state()
|
|
{
|
|
cliSerial->printf("st: %u\n",ap.value);
|
|
//cliSerial->printf("%u\n", *(uint16_t*)&ap);
|
|
}
|