zr-v4/ArduCopter/UserCode.cpp

#include "Copter.h"

#ifdef USERHOOK_INIT
void Copter::userhook_init()
{
    // put your initialisation code here
    // this will be called once at start-up
}
#endif

#ifdef USERHOOK_FASTLOOP
void Copter::userhook_FastLoop()
{
    // put your 100Hz code here
}
#endif

#ifdef USERHOOK_50HZLOOP
void Copter::userhook_50Hz()
{
    // put your 50Hz code here
}
#endif

#ifdef USERHOOK_MEDIUMLOOP
void Copter::userhook_MediumLoop()
{
    // put your 10Hz code here
}
#endif

#ifdef USERHOOK_SLOWLOOP
void Copter::userhook_SlowLoop()
{
    // put your 3.3Hz code here
}
#endif

#ifdef USERHOOK_SUPERSLOWLOOP
void Copter::userhook_SuperSlowLoop()
{
    // put your 1Hz code here
    
        // static bool init_prx = false;
        // if (init_prx == false ) {
        //     static uint32_t prx_init_time = AP_HAL::millis();
        //     uint32_t tnow = AP_HAL::millis();
        //     if(tnow - prx_init_time > 5000){
        //         init_prx = true;
        //         init_proximity();
        //         gcs().send_text(MAV_SEVERITY_INFO, "--- init prx:%ldms -> %ldms ---",prx_init_time,tnow);
        //     }
        // }
}
#endif

#ifdef USERHOOK_AUXSWITCH
void Copter::userhook_auxSwitch1(uint8_t ch_flag)
{
    // put your aux switch #1 handler here (CHx_OPT = 47)
}

void Copter::userhook_auxSwitch2(uint8_t ch_flag)
{
    // put your aux switch #2 handler here (CHx_OPT = 48)
}

void Copter::userhook_auxSwitch3(uint8_t ch_flag)
{
    // put your aux switch #3 handler here (CHx_OPT = 49)
}
#endif