void acquiringS(void) { #if ( AIRFRAME_TYPE == AIRFRAME_HELI ) ent_manualS(); return; #endif if ( dcm_flags._.nav_capable && ( ( MAG_YAW_DRIFT == 0 ) || ( magMessage == 7 ) ) ) { #if (NORADIO == 1) if ( 1 ) #else if ( udb_flags._.radio_on ) #endif { if (standby_timer == NUM_WAGGLES+1) waggle = WAGGLE_SIZE ; else if (standby_timer <= NUM_WAGGLES) waggle = - waggle ; else waggle = 0 ; standby_timer-- ; if ( standby_timer == 6 ) { flags._.save_origin = 1 ; } else if ( standby_timer == 2 ) { dcm_flags._.dead_reckon_enable = 1 ; } else if ( standby_timer <= 0) { ent_manualS() ; } } else { waggle = 0 ; } } else { waggle = 0 ; } return ; }
void stabilizedS(void) { if ( udb_flags._.radio_on ) { if ( flags._.home_req & dcm_flags._.nav_capable ) ent_waypointS() ; else if ( flags._.man_req ) ent_manualS() ; } else { if ( dcm_flags._.nav_capable ) ent_returnS() ; } return ; }
void stabilizedS(void) { if ( udb_flags._.radio_on ) { if ( flight_mode_switch_home() & dcm_flags._.nav_capable ) ent_waypointS() ; else if ( flight_mode_switch_manual() ) ent_manualS() ; } else { if ( dcm_flags._.nav_capable ) ent_returnS() ; } return ; }
void returnS(void) { if ( udb_flags._.radio_on ) { if ( flags._.man_req ) ent_manualS() ; else if ( flags._.auto_req ) ent_stabilizedS() ; else if ( flags._.home_req & dcm_flags._.nav_capable ) ent_waypointS() ; } else { #if (FAILSAFE_HOLD == 1) flags._.rtl_hold = 1 ; #endif } return ; }
void waypointS(void) { #if ( LED_RED_MAG_CHECK == 0 ) udb_led_toggle(LED_RED) ; #endif if ( udb_flags._.radio_on ) { if ( flags._.man_req ) ent_manualS() ; else if ( flags._.auto_req ) ent_stabilizedS() ; } else { ent_returnS() ; } return ; }
void returnS(void) { if ( udb_flags._.radio_on ) { if ( flight_mode_switch_manual() ) ent_manualS() ; else if ( flight_mode_switch_auto() ) ent_stabilizedS() ; else if ( flight_mode_switch_home() & dcm_flags._.nav_capable ) ent_waypointS() ; } else { #if (FAILSAFE_HOLD == 1) flags._.rtl_hold = 1 ; #endif } return ; }
void waypointS(void) { #if ( LED_RED_MAG_CHECK == 0 ) udb_led_toggle(LED_RED) ; #endif if ( udb_flags._.radio_on ) { if ( flight_mode_switch_manual() ) ent_manualS() ; else if ( flight_mode_switch_auto() ) ent_stabilizedS() ; } else { ent_returnS() ; } return ; }