int my_main(void) { All * a; land_alloc(a); #line 291 int w = 960; int h = 600; a->show_help = 1; #line 295 land_init(); #line 297 main_data_path = land_strdup("."); #line 299 if (land_argc > 1) { if (land_equals(land_argv [1], "test")) { return test(); } } //land_set_display_parameters(w, h, LAND_OPENGL) #line 304 #ifdef ANDROID #line 306 land_set_display_parameters(0, 0, LAND_FULLSCREEN | LAND_DEPTH | LAND_LANDSCAPE); #line 306 #else #line 308 land_set_display_parameters(w, h, LAND_DEPTH | LAND_RESIZE); #line 308 #endif #line 316 LandRunner * game_runner = land_runner_new("Yellow and Dangerous", runner_init, NULL, runner_update, runner_redraw, NULL, runner_done); a->w = w; a->h = h; #line 320 land_runner_register(game_runner); land_set_initial_runner(game_runner); land_mainloop(); #line 324 land_free(main_data_path); land_free(a); #line 327 return 0; }
// set_mode - change flight mode and perform any necessary initialisation // optional force parameter used to force the flight mode change (used only first time mode is set) // returns true if mode was successfully set // ACRO, STABILIZE, ALTHOLD, LAND, DRIFT and SPORT can always be set successfully but the return state of other flight modes should be checked and the caller should deal with failures appropriately bool Copter::set_mode(control_mode_t mode, mode_reason_t reason) { // boolean to record if flight mode could be set bool success = false; bool ignore_checks = !motors.armed(); // allow switching to any mode if disarmed. We rely on the arming check to perform // return immediately if we are already in the desired mode if (mode == control_mode) { prev_control_mode = control_mode; prev_control_mode_reason = control_mode_reason; control_mode_reason = reason; return true; } switch(mode) { case ACRO: #if FRAME_CONFIG == HELI_FRAME success = heli_acro_init(ignore_checks); #else success = acro_init(ignore_checks); #endif break; case STABILIZE: #if FRAME_CONFIG == HELI_FRAME success = heli_stabilize_init(ignore_checks); #else success = stabilize_init(ignore_checks); #endif break; case ALT_HOLD: success = althold_init(ignore_checks); break; case AUTO: success = auto_init(ignore_checks); break; case CIRCLE: success = circle_init(ignore_checks); break; case LOITER: success = loiter_init(ignore_checks); break; case GUIDED: success = guided_init(ignore_checks); break; case LAND: success = land_init(ignore_checks); break; case RTL: success = rtl_init(ignore_checks); break; case DRIFT: success = drift_init(ignore_checks); break; case SPORT: success = sport_init(ignore_checks); break; case ALT_POS: success = altpos_init(ignore_checks); break; case FLIP: success = flip_init(ignore_checks); break; #if AUTOTUNE_ENABLED == ENABLED case AUTOTUNE: success = autotune_init(ignore_checks); break; #endif #if POSHOLD_ENABLED == ENABLED case POSHOLD: success = poshold_init(ignore_checks); break; #endif case BRAKE: success = brake_init(ignore_checks); break; case THROW: success = throw_init(ignore_checks); break; case AVOID_ADSB: success = avoid_adsb_init(ignore_checks); break; case GUIDED_NOGPS: success = guided_nogps_init(ignore_checks); break; default: success = false; break; } // update flight mode if (success) { // perform any cleanup required by previous flight mode exit_mode(control_mode, mode); prev_control_mode = control_mode; prev_control_mode_reason = control_mode_reason; control_mode = mode; control_mode_reason = reason; DataFlash.Log_Write_Mode(control_mode, control_mode_reason); adsb.set_is_auto_mode((mode == AUTO) || (mode == RTL) || (mode == GUIDED)); #if AC_FENCE == ENABLED // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe) // but it should be harmless to disable the fence temporarily in these situations as well fence.manual_recovery_start(); #endif }else{ // Log error that we failed to enter desired flight mode Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode); } // update notify object if (success) { notify_flight_mode(control_mode); } // return success or failure return success; }