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127 lines
3.2 KiB
127 lines
3.2 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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static void failsafe_short_on_event(int16_t fstype) |
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{ |
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// This is how to handle a short loss of control signal failsafe. |
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failsafe = fstype; |
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ch3_failsafe_timer = millis(); |
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gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event on, ")); |
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switch(control_mode) |
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{ |
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case MANUAL: |
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case STABILIZE: |
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case FLY_BY_WIRE_A: |
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case FLY_BY_WIRE_B: |
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case TRAINING: |
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set_mode(CIRCLE); |
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break; |
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case AUTO: |
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case GUIDED: |
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case LOITER: |
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if(g.short_fs_action == 1) { |
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set_mode(RTL); |
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} |
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break; |
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case CIRCLE: |
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case RTL: |
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default: |
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break; |
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} |
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gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode); |
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} |
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static void failsafe_long_on_event(int16_t fstype) |
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{ |
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// This is how to handle a long loss of control signal failsafe. |
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gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Long event on, ")); |
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// If the GCS is locked up we allow control to revert to RC |
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hal.rcin->clear_overrides(); |
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failsafe = fstype; |
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switch(control_mode) |
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{ |
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case MANUAL: |
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case STABILIZE: |
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case FLY_BY_WIRE_A: |
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case FLY_BY_WIRE_B: |
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case TRAINING: |
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case CIRCLE: |
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set_mode(RTL); |
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break; |
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case AUTO: |
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case GUIDED: |
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case LOITER: |
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if(g.long_fs_action == 1) { |
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set_mode(RTL); |
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} |
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break; |
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case RTL: |
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default: |
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break; |
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} |
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gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode); |
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} |
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static void failsafe_short_off_event() |
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{ |
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// We're back in radio contact |
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gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event off")); |
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failsafe = FAILSAFE_NONE; |
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// re-read the switch so we can return to our preferred mode |
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// -------------------------------------------------------- |
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if (control_mode == CIRCLE || |
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(g.short_fs_action == 1 && control_mode == RTL)) { |
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reset_control_switch(); |
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} |
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} |
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#if BATTERY_EVENT == ENABLED |
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void low_battery_event(void) |
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{ |
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gcs_send_text_P(SEVERITY_HIGH,PSTR("Low Battery!")); |
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set_mode(RTL); |
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g.throttle_cruise = THROTTLE_CRUISE; |
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} |
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#endif |
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//////////////////////////////////////////////////////////////////////////////// |
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// repeating event control |
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/* |
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update state for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY |
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*/ |
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static void update_events(void) |
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{ |
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if (event_state.repeat == 0 || (millis() - event_state.start_time_ms) < event_state.delay_ms) { |
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return; |
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} |
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// event_repeat = -1 means repeat forever |
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if (event_state.repeat != 0) { |
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event_state.start_time_ms = millis(); |
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switch (event_state.type) { |
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case EVENT_TYPE_SERVO: |
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hal.rcout->enable_ch(event_state.rc_channel); |
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if (event_state.repeat & 1) { |
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servo_write(event_state.rc_channel, event_state.undo_value); |
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} else { |
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servo_write(event_state.rc_channel, event_state.servo_value); |
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} |
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break; |
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case EVENT_TYPE_RELAY: |
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relay.toggle(); |
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break; |
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} |
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if (event_state.repeat > 0) { |
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event_state.repeat--; |
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} |
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} |
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}
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