mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
828f0b0443
turned off altitude interpolation for now. removed the "Dampener" setting in config. Using less confusing kD instead. removed throttle_cruise reset in events.pde for RTL - would cause a crash. added I term for pitch/roll for when flying greater than 20° git-svn-id: https://arducopter.googlecode.com/svn/trunk@1868 f9c3cf11-9bcb-44bc-f272-b75c42450872
90 lines
1.7 KiB
Plaintext
90 lines
1.7 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This event will be called when the failsafe changes
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boolean failsafe reflects the current state
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*/
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void failsafe_on_event()
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{
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// This is how to handle a failsafe.
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switch(control_mode)
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{
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}
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}
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void failsafe_off_event()
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{
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/*
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if (g.throttle_fs_action == 2){
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// We're back in radio contact
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// return to AP
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// ---------------------------
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// re-read the switch so we can return to our preferred mode
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// --------------------------------------------------------
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reset_control_switch();
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// Reset control integrators
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// ---------------------
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reset_I();
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}else if (g.throttle_fs_action == 1){
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// We're back in radio contact
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// return to Home
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// we should already be in RTL and throttle set to cruise
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// ------------------------------------------------------
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set_mode(RTL);
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}
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*/
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}
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void low_battery_event(void)
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{
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gcs.send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
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set_mode(RTL);
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}
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void update_events() // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
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{
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if(event_repeat == 0 || (millis() - event_timer) < event_delay)
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return;
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if (event_repeat > 0){
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event_repeat --;
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}
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if(event_repeat != 0) { // event_repeat = -1 means repeat forever
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event_timer = millis();
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if (event_id >= CH_5 && event_id <= CH_8) {
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if(event_repeat%2) {
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APM_RC.OutputCh(event_id, event_value); // send to Servos
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} else {
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APM_RC.OutputCh(event_id, event_undo_value);
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}
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}
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if (event_id == RELAY_TOGGLE) {
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relay_toggle();
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}
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}
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}
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void relay_on()
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{
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PORTL |= B00000100;
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}
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void relay_off()
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{
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PORTL &= ~B00000100;
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}
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void relay_toggle()
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{
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PORTL ^= B00000100;
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}
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