mirror of https://github.com/ArduPilot/ardupilot
145 lines
3.2 KiB
Plaintext
145 lines
3.2 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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void set_home_is_set(bool b)
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{
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// if no change, exit immediately
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if( ap.home_is_set == b )
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return;
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ap.home_is_set = b;
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if(b) {
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Log_Write_Event(DATA_SET_HOME);
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}
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}
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// ---------------------------------------------
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void set_auto_armed(bool b)
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{
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// if no change, exit immediately
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if( ap.auto_armed == b )
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return;
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ap.auto_armed = b;
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if(b){
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Log_Write_Event(DATA_AUTO_ARMED);
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}
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}
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// ---------------------------------------------
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void set_simple_mode(uint8_t b)
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{
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if(ap.simple_mode != b){
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if(b == 0){
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Log_Write_Event(DATA_SET_SIMPLE_OFF);
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}else if(b == 1){
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Log_Write_Event(DATA_SET_SIMPLE_ON);
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}else{
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Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
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}
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ap.simple_mode = b;
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}
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}
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// ---------------------------------------------
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static void set_failsafe_radio(bool b)
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{
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// only act on changes
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// -------------------
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if(ap.failsafe_radio != b) {
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// store the value so we don't trip the gate twice
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// -----------------------------------------------
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ap.failsafe_radio = b;
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if (ap.failsafe_radio == false) {
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// We've regained radio contact
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// ----------------------------
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failsafe_radio_off_event();
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}else{
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// We've lost radio contact
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// ------------------------
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failsafe_radio_on_event();
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}
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// update AP_Notify
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AP_Notify::flags.failsafe_radio = b;
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}
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}
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// ---------------------------------------------
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void set_low_battery(bool b)
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{
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ap.low_battery = b;
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AP_Notify::flags.failsafe_battery = b;
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}
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// ---------------------------------------------
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static void set_failsafe_gps(bool b)
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{
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ap.failsafe_gps = b;
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}
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// ---------------------------------------------
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static void set_failsafe_gcs(bool b)
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{
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ap.failsafe_gcs = b;
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}
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// ---------------------------------------------
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void set_takeoff_complete(bool b)
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{
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// if no change, exit immediately
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if( ap.takeoff_complete == b )
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return;
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if(b){
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Log_Write_Event(DATA_TAKEOFF);
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}
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ap.takeoff_complete = b;
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}
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// ---------------------------------------------
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void set_land_complete(bool b)
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{
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// if no change, exit immediately
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if( ap.land_complete == b )
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return;
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if(b){
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Log_Write_Event(DATA_LAND_COMPLETE);
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}else{
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Log_Write_Event(DATA_NOT_LANDED);
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}
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ap.land_complete = b;
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}
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// ---------------------------------------------
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void set_compass_healthy(bool b)
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{
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if(ap.compass_status != b) {
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if(b) {
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// compass has just recovered so log to the dataflash
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Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_ERROR_RESOLVED);
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}else{
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// compass has just failed so log an error to the dataflash
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Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_COMPASS_FAILED_TO_READ);
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}
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}
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ap.compass_status = b;
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}
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// ---------------------------------------------
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void set_pre_arm_check(bool b)
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{
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if(ap.pre_arm_check != b) {
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ap.pre_arm_check = b;
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AP_Notify::flags.pre_arm_check = b;
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}
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}
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