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uncrustify ArduCopter/events.pde

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uncrustify 2012-08-16 17:50:02 -07:00 committed by Pat Hickey
parent f62681634b
commit bcad02a1ba
1 changed files with 71 additions and 71 deletions
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142
ArduCopter/events.pde
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@ -1,65 +1,65 @@
// -*- 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
*/
* This event will be called when the failsafe changes
* boolean failsafe reflects the current state
*/
static void failsafe_on_event()
{
// This is how to handle a failsafe.
switch(control_mode)
{
case AUTO:
if (g.throttle_fs_action == 1) {
// do_rtl sets the altitude to the current altitude by default
set_mode(RTL);
// We add an additional 10m to the current altitude
//next_WP.alt += 1000;
set_new_altitude(next_WP.alt + 1000);
}
//if (g.throttle_fs_action == 2)
// Stay in AUTO and ignore failsafe
break;
// This is how to handle a failsafe.
switch(control_mode)
{
case AUTO:
if (g.throttle_fs_action == 1) {
// do_rtl sets the altitude to the current altitude by default
set_mode(RTL);
// We add an additional 10m to the current altitude
//next_WP.alt += 1000;
set_new_altitude(next_WP.alt + 1000);
}
//if (g.throttle_fs_action == 2)
// Stay in AUTO and ignore failsafe
break;
default:
if(home_is_set == true){
// same as above ^
// do_rtl sets the altitude to the current altitude by default
set_mode(RTL);
// We add an additional 10m to the current altitude
//next_WP.alt += 1000;
set_new_altitude(next_WP.alt + 1000);
}else{
// We have no GPS so we must land
set_mode(LAND);
}
break;
}
default:
if(home_is_set == true) {
// same as above ^
// do_rtl sets the altitude to the current altitude by default
set_mode(RTL);
// We add an additional 10m to the current altitude
//next_WP.alt += 1000;
set_new_altitude(next_WP.alt + 1000);
}else{
// We have no GPS so we must land
set_mode(LAND);
}
break;
}
}
static void failsafe_off_event()
{
// If we are in AUTO, no need to do anything
if(control_mode == AUTO)
return;
// If we are in AUTO, no need to do anything
if(control_mode == AUTO)
return;
if (g.throttle_fs_action == 2){
// We're back in radio contact
// return to AP
// ---------------------------
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();
// re-read the switch so we can return to our preferred mode
// --------------------------------------------------------
reset_control_switch();
}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);
}
}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);
}
}
static void low_battery_event(void)
@ -73,37 +73,37 @@ static void low_battery_event(void)
last_low_battery_message = tnow;
}
low_batt = true;
low_batt = true;
// if we are in Auto mode, come home
if(control_mode >= AUTO)
set_mode(RTL);
// if we are in Auto mode, come home
if(control_mode >= AUTO)
set_mode(RTL);
}
static void update_events() // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
static 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 || (millis() - event_timer) < event_delay)
return;
if (event_repeat > 0){
event_repeat --;
}
if (event_repeat > 0) {
event_repeat--;
}
if(event_repeat != 0) { // event_repeat = -1 means repeat forever
event_timer = millis();
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 >= 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();
}
}
if (event_id == RELAY_TOGGLE) {
relay.toggle();
}
}
}