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90 lines
2.9 KiB
90 lines
2.9 KiB
#if 1 |
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#include "Copter.h" |
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void Copter::do_avoid_action(){ |
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} |
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bool Copter::zr_radio_valid(){ |
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if(!motors->armed()){ |
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return true; |
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} |
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if (control_mode == Mode::Number::AUTO || control_mode == Mode::Number::RTL || control_mode == Mode::Number::LAND){ |
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if(abs(channel_roll->get_control_in())>750 || \ |
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abs(channel_pitch->get_control_in())>750 || \ |
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abs(channel_yaw->get_control_in())>750 || \ |
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channel_throttle->get_control_in()<380 || \ |
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channel_throttle->get_control_in()>590 ) |
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{ |
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// rc().set_disable_ch(); |
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gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: 注意遥控通道是否在中位"); |
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return false; |
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} |
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} |
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return true; |
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} |
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void Copter::zr_SlowLoop(){ |
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/********** @Brown,for get camera pos **********/ |
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static int32_t last_pos_lat; |
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static int32_t last_pos_lng; |
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camera.get_last_trigger_pos(last_pos_lat,last_pos_lng); |
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if(mode_auto.mission._type_resume && last_pos_lat!=0) |
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mode_auto.mission.auto_resume_mission((uint8_t)control_mode,motors->armed(),last_pos_lat,last_pos_lng); |
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else |
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mode_auto.mission.auto_resume_mission((uint8_t)control_mode,motors->armed(),current_loc.lat,current_loc.lng); |
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} |
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void Copter::zr_SuperSlowLoop(){ |
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static bool before_fly = true; |
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static float batt_mah_teb[] = |
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{ |
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25.20,24.90,24.84,24.76,24.69,24.64,24.60,24.57,24.54,24.52, |
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24.50,24.48,24.45,24.43,24.40,24.36,24.32,24.26,24.21,24.14, |
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24.07,24.00,23.94,23.88,23.79,23.71,23.65,23.58,23.51,23.46, |
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23.41,23.36,23.30,23.24,23.19,23.13,23.07,23.01,22.95,22.91, |
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22.86,22.81,22.76,22.70,22.65,22.59,22.54,22.48,22.43,22.37, |
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22.31,22.26,22.21,22.16,22.11,22.06,22.01,21.96,21.92,21.88, |
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21.84,21.79,21.76,21.72,21.69,21.64,21.59,21.54,21.49,21.45, |
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21.40,21.34,21.29,21.24,21.18,21.13,21.07,21.02,20.96,20.90, |
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20.85,20.80,20.75,20.69,20.63,20.56,20.47,20.29,20.16,20.04, |
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19.88,19.73,19.53,19.34,19.19,19.00,18.80,18.51,18.00,17.40, |
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16.80 |
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}; |
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if(motors->armed()){ |
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before_fly = false; |
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relay.on(3); |
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}else{ |
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relay.off(3); |
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// rc().set_enable_ch(); |
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updownStatus =UpDown_TakeOffStart; |
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mavlink_zr_flying_status_t zr_flying_status_t; |
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zr_flying_status_t.updown_status = updownStatus; |
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//TODO UPDATE COUNTDOWN |
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gcs().update_zr_fly_status(&zr_flying_status_t); |
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} |
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if(before_fly){ |
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uint8_t cnt,cacl_volt_pst; |
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float delt_volt; |
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for(cnt = 0; cnt<102; cnt++ ){ |
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delt_volt = batt_mah_teb[cnt] - battery.voltage(); |
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// delt_volt = batt_mah_teb[cnt] - test_volt; |
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if(delt_volt <= 0) |
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break; |
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} |
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cacl_volt_pst = 100 - cnt; |
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battery.reset_remaining(1, cacl_volt_pst); |
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} |
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gcs().send_message(MSG_ZR_FLYING_STATUS); |
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} |
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#endif |