ardupilot/ArduCopter/AP_State.pde

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-


void set_home_is_set(bool b)
{
    // if no change, exit immediately
    if( ap.home_is_set == b )
        return;

    ap.home_is_set 	= b;
    if(b) {
        Log_Write_Event(DATA_SET_HOME);
    }
}

// ---------------------------------------------
void set_armed(bool b)
{
    // if no change, exit immediately
    if( ap.armed == b )
        return;

    ap.armed = b;
    if(b){
        Log_Write_Event(DATA_ARMED);
    }else{
        Log_Write_Event(DATA_DISARMED);
    }
}

// ---------------------------------------------
void set_auto_armed(bool b)
{
    // if no change, exit immediately
    if( ap.auto_armed == b )
        return;

    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 no change, exit immediately
    if( ap.takeoff_complete == b )
        return;

    if(b){
        Log_Write_Event(DATA_TAKEOFF);
    }
    ap.takeoff_complete = b;
}

// ---------------------------------------------
void set_land_complete(bool b)
{
    // if no change, exit immediately
    if( ap.land_complete == b )
        return;

    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);
}