mirror of https://github.com/ArduPilot/ardupilot
141 lines
3.6 KiB
C++
141 lines
3.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#include "Copter.h"
|
|
|
|
// set_home_state - update home state
|
|
void Copter::set_home_state(enum HomeState new_home_state)
|
|
{
|
|
// if no change, exit immediately
|
|
if (ap.home_state == new_home_state)
|
|
return;
|
|
|
|
// update state
|
|
ap.home_state = new_home_state;
|
|
|
|
// log if home has been set
|
|
if (new_home_state == HOME_SET_NOT_LOCKED || new_home_state == HOME_SET_AND_LOCKED) {
|
|
Log_Write_Event(DATA_SET_HOME);
|
|
}
|
|
}
|
|
|
|
// home_is_set - returns true if home positions has been set (to GPS location, armed location or EKF origin)
|
|
bool Copter::home_is_set()
|
|
{
|
|
return (ap.home_state == HOME_SET_NOT_LOCKED || ap.home_state == HOME_SET_AND_LOCKED);
|
|
}
|
|
|
|
// ---------------------------------------------
|
|
void Copter::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 Copter::set_simple_mode(uint8_t b)
|
|
{
|
|
if(ap.simple_mode != b){
|
|
if(b == 0){
|
|
Log_Write_Event(DATA_SET_SIMPLE_OFF);
|
|
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Simple:OFF");
|
|
}else if(b == 1){
|
|
Log_Write_Event(DATA_SET_SIMPLE_ON);
|
|
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Simple:ON");
|
|
}else{
|
|
// initialise super simple heading
|
|
update_super_simple_bearing(true);
|
|
Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
|
|
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SuperSimple:ON");
|
|
}
|
|
ap.simple_mode = b;
|
|
}
|
|
}
|
|
|
|
// ---------------------------------------------
|
|
void Copter::set_failsafe_radio(bool b)
|
|
{
|
|
// only act on changes
|
|
// -------------------
|
|
if(failsafe.radio != b) {
|
|
|
|
// store the value so we don't trip the gate twice
|
|
// -----------------------------------------------
|
|
failsafe.radio = b;
|
|
|
|
if (failsafe.radio == false) {
|
|
// We've regained radio contact
|
|
// ----------------------------
|
|
failsafe_radio_off_event();
|
|
}else{
|
|
// We've lost radio contact
|
|
// ------------------------
|
|
failsafe_radio_on_event();
|
|
}
|
|
|
|
// update AP_Notify
|
|
AP_Notify::flags.failsafe_radio = b;
|
|
}
|
|
}
|
|
|
|
|
|
// ---------------------------------------------
|
|
void Copter::set_failsafe_battery(bool b)
|
|
{
|
|
failsafe.battery = b;
|
|
AP_Notify::flags.failsafe_battery = b;
|
|
}
|
|
|
|
// ---------------------------------------------
|
|
void Copter::set_failsafe_gcs(bool b)
|
|
{
|
|
failsafe.gcs = b;
|
|
}
|
|
|
|
// ---------------------------------------------
|
|
|
|
void Copter::set_pre_arm_check(bool b)
|
|
{
|
|
if(ap.pre_arm_check != b) {
|
|
ap.pre_arm_check = b;
|
|
AP_Notify::flags.pre_arm_check = b;
|
|
}
|
|
}
|
|
|
|
void Copter::set_pre_arm_rc_check(bool b)
|
|
{
|
|
if(ap.pre_arm_rc_check != b) {
|
|
ap.pre_arm_rc_check = b;
|
|
}
|
|
}
|
|
|
|
void Copter::update_using_interlock()
|
|
{
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
// helicopters are always using motor interlock
|
|
ap.using_interlock = true;
|
|
#else
|
|
// check if we are using motor interlock control on an aux switch
|
|
ap.using_interlock = check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK);
|
|
#endif
|
|
}
|
|
|
|
void Copter::set_motor_emergency_stop(bool b)
|
|
{
|
|
if(ap.motor_emergency_stop != b) {
|
|
ap.motor_emergency_stop = b;
|
|
}
|
|
|
|
// Log new status
|
|
if (ap.motor_emergency_stop){
|
|
Log_Write_Event(DATA_MOTORS_EMERGENCY_STOPPED);
|
|
} else {
|
|
Log_Write_Event(DATA_MOTORS_EMERGENCY_STOP_CLEARED);
|
|
}
|
|
}
|