Ejemplos de update_arming_checks en C++ (Cpp)

Ejemplo n.º 1

Archivo: ArduSub.cpp Proyecto: RaiBearG/ardupilot

// one_hz_loop - runs at 1Hz
void Sub::one_hz_loop()
{
    if (should_log(MASK_LOG_ANY)) {
        Log_Write_Data(DATA_AP_STATE, ap.value);
    }

    update_arming_checks();

    if (!motors.armed()) {
        // make it possible to change ahrs orientation at runtime during initial config
        ahrs.set_orientation();

        update_using_interlock();

        // set all throttle channel settings
        motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
    }

    // update assigned functions and enable auxiliary servos
    SRV_Channels::enable_aux_servos();

    check_usb_mux();

    // update position controller alt limits
    update_poscon_alt_max();

    // enable/disable raw gyro/accel logging
    ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));

    // log terrain data
    terrain_logging();
}

Ejemplo n.º 2

Archivo: ArduCopter.cpp Proyecto: Amnesiac2/ardupilot

// one_hz_loop - runs at 1Hz
void Copter::one_hz_loop()
{
    if (should_log(MASK_LOG_ANY)) {
        Log_Write_Data(DATA_AP_STATE, ap.value);
    }

    update_arming_checks();

    if (!motors.armed()) {
        // make it possible to change ahrs orientation at runtime during initial config
        ahrs.set_orientation();

        update_using_interlock();

#if FRAME_CONFIG != HELI_FRAME
        // check the user hasn't updated the frame orientation
        motors.set_frame_orientation(g.frame_orientation);

        // set all throttle channel settings
        motors.set_throttle_range(g.throttle_min, channel_throttle->radio_min, channel_throttle->radio_max);
        // set hover throttle
        motors.set_hover_throttle(g.throttle_mid);
#endif
    }

    // update assigned functions and enable auxiliary servos
    RC_Channel_aux::enable_aux_servos();

    check_usb_mux();

#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
    terrain.update();

    // tell the rangefinder our height, so it can go into power saving
    // mode if available
#if CONFIG_SONAR == ENABLED
    float height;
    if (terrain.height_above_terrain(height, true)) {
        sonar.set_estimated_terrain_height(height);
    }
#endif
#endif

    // update position controller alt limits
    update_poscon_alt_max();

    // enable/disable raw gyro/accel logging
    ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
}

Ejemplo n.º 3

Archivo: ArduCopter.cpp Proyecto: lthall/Leonard_ardupilot

// one_hz_loop - runs at 1Hz
void Copter::one_hz_loop()
{
    if (should_log(MASK_LOG_ANY)) {
        Log_Write_Data(DATA_AP_STATE, ap.value);
    }

    update_arming_checks();

    if (!motors.armed()) {
        // make it possible to change ahrs orientation at runtime during initial config
        ahrs.set_orientation();

        update_using_interlock();

#if FRAME_CONFIG != HELI_FRAME
        // check the user hasn't updated the frame orientation
        motors.set_frame_orientation(g.frame_orientation);

        // set all throttle channel settings
        motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif
    }

    // update assigned functions and enable auxiliary servos
    RC_Channel_aux::enable_aux_servos();

    check_usb_mux();

    // update position controller alt limits
    update_poscon_alt_max();

    // enable/disable raw gyro/accel logging
    ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));

    // log terrain data
    terrain_logging();

    adsb.set_is_flying(!ap.land_complete);
}