72 lines
1.5 KiB
72 lines
1.5 KiB
#include "Copter.h" |
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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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} |
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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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} |
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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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// static bool init_prx = false; |
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// if (init_prx == false ) { |
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// static uint32_t prx_init_time = AP_HAL::millis(); |
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// uint32_t tnow = AP_HAL::millis(); |
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// if(tnow - prx_init_time > 5000){ |
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// init_prx = true; |
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// init_proximity(); |
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// gcs().send_text(MAV_SEVERITY_INFO, "--- init prx:%ldms -> %ldms ---",prx_init_time,tnow); |
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// } |
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// } |
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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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} |
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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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