C++ (Cpp) terrain_loggingの例

コード例 #1

ファイル: ArduSub.cpp プロジェクト: LanderU/ardupilot

// one_hz_loop - runs at 1Hz
void Sub::one_hz_loop()
{
    bool arm_check = arming.pre_arm_checks(false);
    ap.pre_arm_check = arm_check;
    AP_Notify::flags.pre_arm_check = arm_check;
    AP_Notify::flags.pre_arm_gps_check = position_ok();

    if (should_log(MASK_LOG_ANY)) {
        Log_Write_Data(DATA_AP_STATE, ap.value);
    }

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

        // 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();

    // update position controller alt limits
    update_poscon_alt_max();

    // log terrain data
    terrain_logging();
}

コード例 #2

ファイル: ArduSub.cpp プロジェクト: 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();
}

コード例 #3

ファイル: ArduCopter.cpp プロジェクト: mblsktxy/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);
    }

    arming.update();

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

        update_using_interlock();

        // check the user hasn't updated the frame class or type
        motors->set_frame_class_and_type((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());

#if FRAME_CONFIG != HELI_FRAME
        // 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
    SRV_Channels::enable_aux_servos();

    // log terrain data
    terrain_logging();

#if ADSB_ENABLED == ENABLED
    adsb.set_is_flying(!ap.land_complete);
#endif

    AP_Notify::flags.flying = !ap.land_complete;

    // update error mask of sensors and subsystems. The mask uses the
    // MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
    // indicates that the sensor or subsystem is present but not
    // functioning correctly
    gcs().update_sensor_status_flags();

    // init compass location for declination
    init_compass_location();
}

コード例 #4

ファイル: ArduCopter.cpp プロジェクト: 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);
}