mirror of https://github.com/ArduPilot/ardupilot
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 -*-
|
|
|
|
/*
|
|
This event will be called when the failsafe changes
|
|
boolean failsafe reflects the current state
|
|
*/
|
|
void failsafe_on_event()
|
|
{
|
|
// This is how to handle a failsafe.
|
|
switch(control_mode)
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
void failsafe_off_event()
|
|
{
|
|
/*
|
|
if (g.throttle_fs_action == 2){
|
|
// We're back in radio contact
|
|
// return to AP
|
|
// ---------------------------
|
|
|
|
// re-read the switch so we can return to our preferred mode
|
|
// --------------------------------------------------------
|
|
reset_control_switch();
|
|
|
|
// Reset control integrators
|
|
// ---------------------
|
|
reset_I();
|
|
|
|
}else if (g.throttle_fs_action == 1){
|
|
// We're back in radio contact
|
|
// return to Home
|
|
// we should already be in RTL and throttle set to cruise
|
|
// ------------------------------------------------------
|
|
set_mode(RTL);
|
|
}
|
|
*/
|
|
}
|
|
|
|
void low_battery_event(void)
|
|
{
|
|
gcs.send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
|
|
set_mode(RTL);
|
|
}
|
|
|
|
|
|
void update_events() // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
|
|
{
|
|
if(event_repeat == 0 || (millis() - event_timer) < event_delay)
|
|
return;
|
|
|
|
if (event_repeat > 0){
|
|
event_repeat --;
|
|
}
|
|
|
|
if(event_repeat != 0) { // event_repeat = -1 means repeat forever
|
|
event_timer = millis();
|
|
|
|
if (event_id >= CH_5 && event_id <= CH_8) {
|
|
if(event_repeat%2) {
|
|
APM_RC.OutputCh(event_id, event_value); // send to Servos
|
|
} else {
|
|
APM_RC.OutputCh(event_id, event_undo_value);
|
|
}
|
|
}
|
|
|
|
if (event_id == RELAY_TOGGLE) {
|
|
relay_toggle();
|
|
}
|
|
}
|
|
}
|
|
|
|
void relay_on()
|
|
{
|
|
PORTL |= B00000100;
|
|
}
|
|
|
|
void relay_off()
|
|
{
|
|
PORTL &= ~B00000100;
|
|
}
|
|
|
|
void relay_toggle()
|
|
{
|
|
PORTL ^= B00000100;
|
|
}
|
|
|