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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/ArduCopter/AP_State.cpp
Views: 1798
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#include "Copter.h"

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// ---------------------------------------------

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void Copter::set_auto_armed(bool b)

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{

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    // if no change, exit immediately

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    if( ap.auto_armed == b )

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        return;

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    ap.auto_armed = b;

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    if(b){

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        LOGGER_WRITE_EVENT(LogEvent::AUTO_ARMED);

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    }

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}

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// ---------------------------------------------

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/**

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 * Set Simple mode

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 *

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 * @param [in] b 0:false or disabled, 1:true or SIMPLE, 2:SUPERSIMPLE

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 */

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void Copter::set_simple_mode(SimpleMode b)

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{

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    if (simple_mode != b) {

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        switch (b) {

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            case SimpleMode::NONE:

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                LOGGER_WRITE_EVENT(LogEvent::SET_SIMPLE_OFF);

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                gcs().send_text(MAV_SEVERITY_INFO, "SIMPLE mode off");

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                break;

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            case SimpleMode::SIMPLE:

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                LOGGER_WRITE_EVENT(LogEvent::SET_SIMPLE_ON);

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                gcs().send_text(MAV_SEVERITY_INFO, "SIMPLE mode on");

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                break;

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            case SimpleMode::SUPERSIMPLE:

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                // initialise super simple heading

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                update_super_simple_bearing(true);

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                LOGGER_WRITE_EVENT(LogEvent::SET_SUPERSIMPLE_ON);

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                gcs().send_text(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on");

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                break;

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        }

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        simple_mode = b;

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    }

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}

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// ---------------------------------------------

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void Copter::set_failsafe_radio(bool b)

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{

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    // only act on changes

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    // -------------------

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    if(failsafe.radio != b) {

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        // store the value so we don't trip the gate twice

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        // -----------------------------------------------

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        failsafe.radio = b;

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        if (failsafe.radio == false) {

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            // We've regained radio contact

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            // ----------------------------

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            failsafe_radio_off_event();

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        }else{

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            // We've lost radio contact

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            // ------------------------

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            failsafe_radio_on_event();

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        }

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        // update AP_Notify

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        AP_Notify::flags.failsafe_radio = b;

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    }

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}

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// ---------------------------------------------

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void Copter::set_failsafe_gcs(bool b)

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{

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    failsafe.gcs = b;

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    // update AP_Notify

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    AP_Notify::flags.failsafe_gcs = b;

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}

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// ---------------------------------------------

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void Copter::update_using_interlock()

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{

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#if FRAME_CONFIG == HELI_FRAME

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    // helicopters are always using motor interlock

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    ap.using_interlock = true;

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#else

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    // check if we are using motor interlock control on an aux switch or are in throw mode

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    // which uses the interlock to stop motors while the copter is being thrown

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    ap.using_interlock = rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK) != nullptr;

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#endif

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}

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