mirror of https://github.com/ArduPilot/ardupilot
110 lines
2.6 KiB
Plaintext
110 lines
2.6 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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static 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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case AUTO:
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if (g.throttle_fs_action == 1) {
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// do_rtl sets the altitude to the current altitude by default
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set_mode(RTL);
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// We add an additional 10m to the current altitude
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//next_WP.alt += 1000;
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set_new_altitude(next_WP.alt + 1000);
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}
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//if (g.throttle_fs_action == 2)
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// Stay in AUTO and ignore failsafe
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break;
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default:
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if(home_is_set == true){
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// same as above ^
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// do_rtl sets the altitude to the current altitude by default
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set_mode(RTL);
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// We add an additional 10m to the current altitude
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//next_WP.alt += 1000;
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set_new_altitude(next_WP.alt + 1000);
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}else{
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// We have no GPS so we must land
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set_mode(LAND);
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}
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break;
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}
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}
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static void failsafe_off_event()
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{
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// If we are in AUTO, no need to do anything
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if(control_mode == AUTO)
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return;
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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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}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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static void low_battery_event(void)
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{
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static uint32_t last_low_battery_message;
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uint32_t tnow = millis();
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if (((uint32_t)(tnow - last_low_battery_message)) > 5000) {
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// only send this message at 5s intervals at most or we may
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// flood the link
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gcs_send_text_P(SEVERITY_LOW,PSTR("Low Battery!"));
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last_low_battery_message = tnow;
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}
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low_batt = true;
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// if we are in Auto mode, come home
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if(control_mode >= AUTO)
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set_mode(RTL);
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}
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static 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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