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119 lines
2.4 KiB
119 lines
2.4 KiB
/* |
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* @Author: your name |
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* @Date: 2020-10-29 14:13:48 |
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* @LastEditTime: 2020-10-29 14:19:30 |
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* @LastEditors: your name |
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* @Description: In User Settings Edit |
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* @FilePath: /zr-v4/ArduCopter/UserCode.cpp |
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*/ |
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#include "Copter.h" |
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#define CAM_DEBUG 0 |
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#ifdef USERHOOK_INIT |
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void Copter::userhook_init() |
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{ |
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// put your initialisation code here |
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// this will be called once at start-up |
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relay.on(1); |
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set_mode(Mode::Number::LOITER, ModeReason::STARTUP); |
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// gcs().send_text(MAV_SEVERITY_INFO, "NOTICE: version: ZRUAV v4.0.7-rc1"); |
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} |
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#endif |
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#ifdef USERHOOK_FASTLOOP |
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void Copter::userhook_FastLoop() |
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{ |
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// put your 100Hz code here |
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} |
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#endif |
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#ifdef USERHOOK_50HZLOOP |
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void Copter::userhook_50Hz() |
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{ |
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// put your 50Hz code here |
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} |
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#endif |
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#ifdef USERHOOK_MEDIUMLOOP |
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void Copter::userhook_MediumLoop() |
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{ |
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// put your 10Hz code here |
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} |
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#endif |
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#ifdef USERHOOK_SLOWLOOP |
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void Copter::userhook_SlowLoop() |
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{ |
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// put your 3.3Hz code here |
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zr_SlowLoop(); |
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} |
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#endif |
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#ifdef USERHOOK_SUPERSLOWLOOP |
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void Copter::userhook_SuperSlowLoop() |
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{ |
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// put your 1Hz code here |
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zr_SuperSlowLoop(); |
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#if CAM_DEBUG |
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if(in_debug_mode == 2 || control_mode==Mode::Number::ACRO){ |
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camera.take_picture(); |
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} |
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#endif |
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} |
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#endif |
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#ifdef USERHOOK_AUXSWITCH |
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void Copter::userhook_auxSwitch1(uint8_t ch_flag) |
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{ |
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// put your aux switch #1 handler here (CHx_OPT = 47) |
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// switch (ch_flag) { |
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// case 2: { |
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// relay.on(2); |
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// break; |
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// } |
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// case 0: { |
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// relay.off(2); |
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// break; |
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// } |
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// } |
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#if CAM_DEBUG |
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switch (ch_flag) { |
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case 2: { |
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// relay.on(2); |
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gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: debug mode 2!"); |
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in_debug_mode = 2; |
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break; |
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} |
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// case 1: { |
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// // relay.on(2); |
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// gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: debug mode 1!"); |
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// in_debug_mode = 1; |
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// break; |
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// } |
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case 0: { |
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// relay.off(2); |
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gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: debug mode off!"); |
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in_debug_mode = 0; |
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break; |
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} |
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} |
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#endif |
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} |
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void Copter::userhook_auxSwitch2(uint8_t ch_flag) |
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{ |
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// put your aux switch #2 handler here (CHx_OPT = 48) |
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} |
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void Copter::userhook_auxSwitch3(uint8_t ch_flag) |
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{ |
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// put your aux switch #3 handler here (CHx_OPT = 49) |
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} |
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#endif
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