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@ -150,35 +150,26 @@ private:
@@ -150,35 +150,26 @@ private:
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// Documentation of Globals:
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typedef union { |
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struct { |
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uint8_t unused1 : 1; // 0
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uint8_t pre_arm_rc_check : 1; // 3 // true if rc input pre-arm checks have been completed successfully
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uint8_t pre_arm_check : 1; // 4 // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
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uint8_t auto_armed : 1; // 5 // stops auto missions from beginning until throttle is raised
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uint8_t logging_started : 1; // 6 // true if logging has started
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uint8_t land_complete : 1; // 7 // true if we have detected a landing
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uint8_t new_radio_frame : 1; // 8 // Set true if we have new PWM data to act on from the Radio
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uint8_t usb_connected_unused : 1; // 9 // UNUSED
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uint8_t rc_receiver_present : 1; // 10 // true if we have an rc receiver present (i.e. if we've ever received an update
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uint8_t compass_mot : 1; // 11 // true if we are currently performing compassmot calibration
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uint8_t motor_test : 1; // 12 // true if we are currently performing the motors test
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uint8_t initialised : 1; // 13 // true once the init_ardupilot function has completed. Extended status to GCS is not sent until this completes
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uint8_t land_complete_maybe : 1; // 14 // true if we may have landed (less strict version of land_complete)
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uint8_t throttle_zero : 1; // 15 // true if the throttle stick is at zero, debounced, determines if pilot intends shut-down when not using motor interlock
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uint8_t system_time_set_unused : 1; // 16 // true if the system time has been set from the GPS
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uint8_t gps_glitching : 1; // 17 // true if GPS glitching is affecting navigation accuracy
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uint8_t using_interlock : 1; // 20 // aux switch motor interlock function is in use
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uint8_t land_repo_active : 1; // 21 // true if the pilot is overriding the landing position
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uint8_t motor_interlock_switch : 1; // 22 // true if pilot is requesting motor interlock enable
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uint8_t in_arming_delay : 1; // 23 // true while we are armed but waiting to spin motors
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uint8_t initialised_params : 1; // 24 // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
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uint8_t unused3 : 1; // 25 // was compass_init_location; true when the compass's initial location has been set
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uint8_t unused2 : 1; // 26 // aux switch rc_override is allowed
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uint8_t unused4 : 1; // 27 // was "we armed using a arming switch"
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uint8_t pre_arm_rc_check : 1; // 1 // true if rc input pre-arm checks have been completed successfully
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uint8_t pre_arm_check : 1; // 2 // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
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uint8_t auto_armed : 1; // 3 // stops auto missions from beginning until throttle is raised
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uint8_t logging_started : 1; // 4 // true if logging has started
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uint8_t land_complete : 1; // 5 // true if we have detected a landing
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uint8_t new_radio_frame : 1; // 6 // Set true if we have new PWM data to act on from the Radio
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uint8_t rc_receiver_present : 1; // 7 // true if we have an rc receiver present (i.e. if we've ever received an update
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uint8_t compass_mot : 1; // 8 // true if we are currently performing compassmot calibration
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uint8_t motor_test : 1; // 9 // true if we are currently performing the motors test
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uint8_t initialised : 1; // 10 // true once the init_ardupilot function has completed. Extended status to GCS is not sent until this completes
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uint8_t land_complete_maybe : 1; // 11 // true if we may have landed (less strict version of land_complete)
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uint8_t throttle_zero : 1; // 12 // true if the throttle stick is at zero, debounced, determines if pilot intends shut-down
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uint8_t gps_glitching : 1; // 13 // true if GPS glitching is affecting navigation accuracy
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uint8_t in_arming_delay : 1; // 14 // true while we are armed but waiting to spin motors
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uint8_t initialised_params : 1; // 15 // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
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}; |
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uint32_t value; |
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} ap_t; |
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ap_t ap; //MIR Set of general variables
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ap_t ap; |
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static_assert(sizeof(uint32_t) == sizeof(ap), "ap_t must be uint32_t"); |
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@ -330,8 +321,8 @@ private:
@@ -330,8 +321,8 @@ private:
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void one_hz_loop(); |
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void read_AHRS(void); |
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void update_altitude(); |
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void rotate_NE_to_BF(float &x, float &y); |
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void rotate_BF_to_NE(float &x, float &y); |
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void rotate_NE_to_BF(Vector2f &vec); |
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void rotate_BF_to_NE(Vector2f &vec); |
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// commands.cpp
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void update_home_from_EKF(); |
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Michelle Rossouw
4 years ago
committed by
Andrew Tridgell