mirror of https://github.com/ArduPilot/ardupilot
135 lines
3.6 KiB
C++
135 lines
3.6 KiB
C++
#include "Copter.h"
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// set_home_state - update home state
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void Copter::set_home_state(enum HomeState new_home_state)
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{
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// if no change, exit immediately
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if (ap.home_state == new_home_state)
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return;
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// update state
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ap.home_state = new_home_state;
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// log if home has been set
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if (new_home_state == HOME_SET_NOT_LOCKED || new_home_state == HOME_SET_AND_LOCKED) {
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Log_Write_Event(DATA_SET_HOME);
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}
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}
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// home_is_set - returns true if home positions has been set (to GPS location, armed location or EKF origin)
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bool Copter::home_is_set()
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{
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return (ap.home_state == HOME_SET_NOT_LOCKED || ap.home_state == HOME_SET_AND_LOCKED);
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}
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// ---------------------------------------------
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void Copter::set_auto_armed(bool b)
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{
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// if no change, exit immediately
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if( ap.auto_armed == b )
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return;
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ap.auto_armed = b;
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if(b){
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Log_Write_Event(DATA_AUTO_ARMED);
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}
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}
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// ---------------------------------------------
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/**
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* Set Simple mode
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*
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* @param [in] b 0:false or disabled, 1:true or SIMPLE, 2:SUPERSIMPLE
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*/
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void Copter::set_simple_mode(uint8_t b)
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{
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if (ap.simple_mode != b) {
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switch (b) {
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case 0:
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Log_Write_Event(DATA_SET_SIMPLE_OFF);
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode off");
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break;
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case 1:
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Log_Write_Event(DATA_SET_SIMPLE_ON);
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode on");
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break;
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case 2:
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default:
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// initialise super simple heading
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update_super_simple_bearing(true);
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Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on");
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break;
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}
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ap.simple_mode = b;
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}
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}
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// ---------------------------------------------
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void Copter::set_failsafe_radio(bool b)
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{
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// only act on changes
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// -------------------
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if(failsafe.radio != b) {
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// store the value so we don't trip the gate twice
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// -----------------------------------------------
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failsafe.radio = b;
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if (failsafe.radio == false) {
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// We've regained radio contact
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// ----------------------------
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failsafe_radio_off_event();
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}else{
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// We've lost radio contact
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// ------------------------
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failsafe_radio_on_event();
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}
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// update AP_Notify
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AP_Notify::flags.failsafe_radio = b;
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}
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}
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// ---------------------------------------------
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void Copter::set_failsafe_battery(bool b)
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{
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failsafe.battery = b;
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AP_Notify::flags.failsafe_battery = b;
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}
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// ---------------------------------------------
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void Copter::set_failsafe_gcs(bool b)
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{
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failsafe.gcs = b;
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}
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// ---------------------------------------------
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void Copter::update_using_interlock()
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{
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#if FRAME_CONFIG == HELI_FRAME
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// helicopters are always using motor interlock
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ap.using_interlock = true;
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#else
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// check if we are using motor interlock control on an aux switch or are in throw mode
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// which uses the interlock to stop motors while the copter is being thrown
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ap.using_interlock = check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK);
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#endif
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}
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void Copter::set_motor_emergency_stop(bool b)
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{
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if(ap.motor_emergency_stop != b) {
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ap.motor_emergency_stop = b;
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}
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// Log new status
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if (ap.motor_emergency_stop){
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Log_Write_Event(DATA_MOTORS_EMERGENCY_STOPPED);
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} else {
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Log_Write_Event(DATA_MOTORS_EMERGENCY_STOP_CLEARED);
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}
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}
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