Core autopilot interface common to all firmwares. More...

#include "std.h"
#include "paparazzi.h"
#include "generated/airframe.h"
#include "state.h"
#include "autopilot_utils.h"
#include "autopilot_firmware.h"
#include "autopilot_static.h"

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Go to the source code of this file.

Data Structures
struct	pprz_autopilot
	PPRZ Autopilot structure definition. More...

Functions
void	autopilot_init (void)
	Autopilot initialization function.

void	autopilot_periodic (void)
	Autopilot periodic call at PERIODIC_FREQUENCY.

void	autopilot_event (void)
	Autopilot event check function.

void	autopilot_on_rc_frame (void)
	Autopilot RC input event hadler.

void	autopilot_failsafe_checks (void)
	Autopilot periodic failsafe checks.

bool	autopilot_set_mode (uint8_t new_autopilot_mode)
	Set new autopilot mode.

void	autopilot_SetModeHandler (float new_autopilot_mode)
	Handler for setter function with dl_setting.

uint8_t	autopilot_get_mode (void)
	Get autopilot mode.

void	autopilot_reset_flight_time (void)
	Reset flight time and launch status Also provide macro for dl_setting backward compatibility.

void	autopilot_force_motors_on (bool motors_on)
	Force start/stop the motors WARNING This will skip he preflight checks.

bool	autopilot_set_motors_on (bool motors_on)
	Start or stop motors May have no effect if motors has auto-start based on throttle setpoint or when the preflight checks are failing.

bool	autopilot_arming_motors_on (bool motors_on)
	Start or stop the motors during arming May not happen when preflight checks are failing.

bool	autopilot_get_motors_on (void)
	Get motor status.

void	autopilot_set_kill_throttle (bool kill)
	Enable or disable motor control from autopilot Also provide macro for dl_setting backward compatibility.

bool	autopilot_throttle_killed (void)
	Get kill status.

void	autopilot_check_in_flight (bool motors_on)
	Check if airframe is in flight.

void	autopilot_set_in_flight (bool in_flight)
	Set in flight status.

bool	autopilot_in_flight (void)
	Get in flight status.

void	autopilot_reset_in_flight_counter (void)
	reset in_flight counter actual implementation is firmware dependent

void	autopilot_store_settings (void)
	Store marked settings in flash Try to make sure that we don't write to flash while flying Also provide macro for dl_setting backward compatibility.

void	autopilot_clear_settings (void)
	Clear marked settings in flash try to make sure that we don't write to flash while flying Also provide macro for dl_setting backward compatibility.

void	autopilot_send_version (void)
	Report autopilot version on default downlink channel.

void	autopilot_send_mode (void)
	Report autopilot mode on default downlink channel.

Variables
struct pprz_autopilot	autopilot
	Global autopilot structure.

Detailed Description

Core autopilot interface common to all firmwares.

Using either static or generated autopilot logic, which depends on the firmware.

Definition in file autopilot.h.

Data Structure Documentation

◆ pprz_autopilot

struct pprz_autopilot

PPRZ Autopilot structure definition.

Definition at line 62 of file autopilot.h.

Data Fields
uint8_t	arming_status	arming status
bool	detect_ground_once	enable automatic detection of ground (one shot)
uint16_t	flight_time	flight time in seconds
bool	ground_detected	automatic detection of landing
bool	in_flight	in flight status
bool	kill_throttle	allow autopilot to use throttle
bool	launch	request launch
uint8_t	mode	current autopilot mode
uint8_t	mode_auto2	FIXME hide this in a private part ?
bool	motors_on	motor status
pprz_t	throttle	throttle level as will be displayed in GCS
bool	use_rc	enable/disable RC input

Macro Definition Documentation

◆ autopilot_ClearSettings

#define autopilot_ClearSettings ( _ ) autopilot_clear_settings()

Definition at line 204 of file autopilot.h.

◆ autopilot_KillThrottle

#define autopilot_KillThrottle ( _kill ) autopilot_set_kill_throttle(_kill)

Definition at line 161 of file autopilot.h.

◆ autopilot_ResetFlightTimeAndLaunch

#define autopilot_ResetFlightTimeAndLaunch ( _ ) autopilot_reset_flight_time()

Definition at line 123 of file autopilot.h.

◆ autopilot_StoreSettings

#define autopilot_StoreSettings ( _ ) autopilot_store_settings()

Definition at line 197 of file autopilot.h.

◆ USE_GENERATED_AUTOPILOT

#define USE_GENERATED_AUTOPILOT FALSE

Definition at line 51 of file autopilot.h.

Function Documentation

◆ autopilot_arming_motors_on()

bool autopilot_arming_motors_on ( bool motors_on )

extern

Start or stop the motors during arming May not happen when preflight checks are failing.

Definition at line 273 of file autopilot.c.

References autopilot, pprz_autopilot::motors_on, preflight_bypass, and preflight_check().

Referenced by autopilot_arming_check_motors_on(), autopilot_arming_check_motors_on(), and autopilot_arming_check_motors_on().

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◆ autopilot_check_in_flight()

void autopilot_check_in_flight ( bool motors_on )

extern

Check if airframe is in flight.

Parameters

[in] motors_on motors status

Check if airframe is in flight.

Definition at line 321 of file autopilot.c.

References autopilot, autopilot_in_flight_counter, autopilot_in_flight_end_detection(), AUTOPILOT_IN_FLIGHT_MIN_THRUST, AUTOPILOT_IN_FLIGHT_TIME, Stabilization::cmd, foo, pprz_autopilot::in_flight, and stabilization.

Referenced by autopilot_periodic().

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◆ autopilot_clear_settings()

void autopilot_clear_settings ( void )

extern

Clear marked settings in flash try to make sure that we don't write to flash while flying Also provide macro for dl_setting backward compatibility.

Definition at line 357 of file autopilot.c.

References autopilot, pprz_autopilot::kill_throttle, settings_clear(), and settings_clear_flag.

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◆ autopilot_event()

void autopilot_event ( void )

extern

Autopilot event check function.

used for automatic ground detection

Definition at line 174 of file autopilot.c.

References AP_MODE_FAILSAFE, autopilot, autopilot_ground_detection(), pprz_autopilot::detect_ground_once, foo, pprz_autopilot::ground_detected, and pprz_autopilot::mode.

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◆ autopilot_failsafe_checks()

void autopilot_failsafe_checks ( void )

extern

Autopilot periodic failsafe checks.

Checks order:

mode from RC
RC lost (if MANUAL or AUTO1)
RC kill switch (any case)
launch detect from RC
GPS lost (if AUTO2 or HOME)
too far from HOME (if not HOME or not GPS_OUT_OF_ORDER)

send mode if changed at the end

Definition at line 189 of file autopilot.c.

References AP_MODE_AUTO1, AP_MODE_AUTO2, AP_MODE_FAILSAFE, AP_MODE_GPS_OUT_OF_ORDER, AP_MODE_GUIDED, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_MANUAL, AP_MODE_NAV, autopilot, autopilot_get_mode(), autopilot_get_motors_on(), autopilot_set_kill_throttle(), autopilot_set_mode(), Electrical::bat_critical, datalink_lost(), datalink_time, electrical, pprz_autopilot::flight_time, foo, gps, GpsIsLost, higher_than_max_altitude(), GpsState::last_3dfix_time, pprz_autopilot::launch, MIN_PPRZ, sys_time::nb_sec, pprz_mode_update(), radio_control, radio_control_get(), RADIO_KILL_SWITCH, RADIO_THROTTLE, RadioControlIsLost, RC_LOST_MODE, RC_OK, RC_REALLY_LOST, rc_settings(), RadioControl::status, THROTTLE_THRESHOLD_TAKEOFF, too_far_from_home, and RadioControl::values.

Referenced by autopilot_periodic(), and main_ap_init().

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◆ autopilot_force_motors_on()

void autopilot_force_motors_on ( bool motors_on )

extern

Force start/stop the motors WARNING This will skip he preflight checks.

Parameters

motors_on Wheter the motors should be forced on/off

Force start/stop the motors WARNING This will skip he preflight checks.

Definition at line 237 of file autopilot.c.

References autopilot, autopilot_generated_set_motors_on(), autopilot_static_set_motors_on(), pprz_autopilot::kill_throttle, and pprz_autopilot::motors_on.

Referenced by autopilot_set_motors_on().

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◆ autopilot_get_mode()

uint8_t autopilot_get_mode ( void )

extern

Get autopilot mode.

Returns: current autopilot mode

Get autopilot mode.

Definition at line 222 of file autopilot.c.

References autopilot, and pprz_autopilot::mode.

Referenced by attitude_loop(), autopilot_arming_check_motors_on(), autopilot_arming_check_motors_on(), autopilot_arming_check_motors_on(), autopilot_arming_check_valid(), autopilot_arming_set(), autopilot_failsafe_checks(), autopilot_static_on_rc_frame(), collective_tracking_control(), distributed_circular(), generic_com_periodic(), guidance_flip_enter(), gvf_low_level_control_2D(), gvf_low_level_control_3D(), h_ctl_pitch_loop(), h_ctl_roll_loop(), mavlink_common_message_handler(), mavlink_send_heartbeat(), navigation_task(), NavKillThrottle(), NavResurrect(), periodic_auto1_commands(), pprz_mode_update(), send_fbw_status(), send_mode(), takeoff_detect_periodic(), v_ctl_set_pitch(), v_ctl_set_throttle(), and wedgebug_periodic().

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◆ autopilot_get_motors_on()

bool autopilot_get_motors_on ( void )

extern

Get motor status.

Returns: true if motors are running

Get motor status.

Definition at line 295 of file autopilot.c.

References autopilot, and pprz_autopilot::motors_on.

Referenced by actuators_ardrone_motor_status(), actuators_bebop_commit(), actuators_esc32_commit(), autopilot_arming_check_motors_on(), autopilot_failsafe_checks(), autopilot_periodic(), control_mixing_heewing_attitude_direct(), control_mixing_heewing_nav_run(), get_act_state_oneloop(), hott_check_serial_data(), hott_update_eam_msg(), hott_update_gam_msg(), intermcu_send_commands(), mavlink_common_message_handler(), nav_takeoff_run(), nav_takeoff_run(), nps_autopilot_run_step(), sdlogger_spi_direct_periodic(), stabilization_attitude_run(), stabilization_indi_rate_run(), and throttle_curve_run().

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◆ autopilot_in_flight()

bool autopilot_in_flight ( void )

extern

Get in flight status.

Returns: true if airframe in flight

Get in flight status.

Definition at line 340 of file autopilot.c.

References autopilot, and pprz_autopilot::in_flight.

Referenced by autopilot_generated_periodic(), autopilot_periodic(), autopilot_static_periodic(), control_mixing_heewing_attitude_direct(), control_mixing_heewing_attitude_plane(), control_mixing_heewing_nav_run(), e_identification_fr_periodic(), ekf_aw_wrapper_periodic(), guidance_flip_run(), guidance_module_enter(), guidance_module_run(), ins_ekf2_update(), ins_flow_update(), mav_exercise_periodic(), mavlink_send_extended_sys_state(), nav_is_in_flight(), orange_avoider_periodic(), rc_cb(), and rc_cb().

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◆ autopilot_init()

void autopilot_init ( void )

extern

Autopilot initialization function.

Definition at line 107 of file autopilot.c.

References autopilot, autopilot_firmware_init(), autopilot_generated_init(), AUTOPILOT_RC_ID, autopilot_static_init(), DefaultPeriodic, pprz_autopilot::detect_ground_once, pprz_autopilot::flight_time, foo, pprz_autopilot::ground_detected, pprz_autopilot::in_flight, pprz_autopilot::kill_throttle, pprz_autopilot::mode_auto2, MODE_AUTO2, pprz_autopilot::motors_on, rc_cb(), rc_ev, register_periodic_telemetry(), send_alive(), send_attitude(), send_autopilot_version(), send_dl_value(), send_minimal_com(), pprz_autopilot::throttle, and pprz_autopilot::use_rc.

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◆ autopilot_on_rc_frame()

void autopilot_on_rc_frame ( void )

extern

Autopilot RC input event hadler.

Definition at line 178 of file autopilot.c.

References autopilot_generated_on_rc_frame(), and autopilot_static_on_rc_frame().

Referenced by rc_cb().

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◆ autopilot_periodic()

void autopilot_periodic ( void )

extern

Autopilot periodic call at PERIODIC_FREQUENCY.

Definition at line 146 of file autopilot.c.

References autopilot, autopilot_check_in_flight(), autopilot_failsafe_checks(), autopilot_generated_periodic(), autopilot_get_motors_on(), autopilot_in_flight(), autopilot_static_periodic(), pprz_autopilot::flight_time, and foo.

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◆ autopilot_reset_flight_time()

void autopilot_reset_flight_time ( void )

extern

Reset flight time and launch status Also provide macro for dl_setting backward compatibility.

Definition at line 229 of file autopilot.c.

References autopilot, pprz_autopilot::flight_time, and pprz_autopilot::launch.

◆ autopilot_reset_in_flight_counter()

void autopilot_reset_in_flight_counter ( void )

extern

reset in_flight counter actual implementation is firmware dependent

Definition at line 326 of file autopilot.c.

References autopilot_in_flight_counter.

Referenced by autopilot_set_in_flight().

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◆ autopilot_send_mode()

void autopilot_send_mode ( void )

extern

Report autopilot mode on default downlink channel.

Definition at line 375 of file autopilot.c.

References DefaultChannel, DefaultDevice, send_mode(), and send_status().

Referenced by autopilot_set_mode().

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◆ autopilot_send_version()

void autopilot_send_version ( void )

extern

Report autopilot version on default downlink channel.

Definition at line 367 of file autopilot.c.

References DefaultChannel, DefaultDevice, and send_autopilot_version().

Referenced by telemetry_reporting_task().

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◆ autopilot_set_in_flight()

void autopilot_set_in_flight ( bool in_flight )

extern

Set in flight status.

Parameters

[in] in_flight in flight status

Set in flight status.

Definition at line 330 of file autopilot.c.

References autopilot, autopilot_reset_in_flight_counter(), and pprz_autopilot::in_flight.

Referenced by autopilot_arming_check_motors_on(), autopilot_static_set_mode(), and nav_takeoff_run().

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◆ autopilot_set_kill_throttle()

void autopilot_set_kill_throttle ( bool kill )

extern

Enable or disable motor control from autopilot Also provide macro for dl_setting backward compatibility.

Parameters

[in] kill true to disable (kill), false to enable (un-kill)

Enable or disable motor control from autopilot Also provide macro for dl_setting backward compatibility.

Definition at line 302 of file autopilot.c.

References autopilot_set_motors_on(), and foo.

Referenced by actuators_disco_commit(), autopilot_failsafe_checks(), nav_bungee_takeoff_run(), nav_bungee_takeoff_setup(), and nav_skid_landing_run().

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◆ autopilot_set_mode()

bool autopilot_set_mode ( uint8_t new_autopilot_mode )

extern

Set new autopilot mode.

Parameters

[in] new_autopilot_mode new mode to set

Returns: true if mode has changed

Set new autopilot mode.

Definition at line 193 of file autopilot.c.

References autopilot, autopilot_generated_set_mode(), autopilot_send_mode(), autopilot_static_set_mode(), foo, pprz_autopilot::mode, and mode.

Referenced by autopilot_failsafe_checks(), guidance_flip_run(), guidance_module_run(), mavlink_common_message_handler(), nav_set_failsafe(), and pprz_mode_update().

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◆ autopilot_set_motors_on()

bool autopilot_set_motors_on ( bool motors_on )

extern

Start or stop motors May have no effect if motors has auto-start based on throttle setpoint or when the preflight checks are failing.

Parameters

[in] motors_on true to start motors, false to stop

Returns: true The preflight checks are successful and motors are started/stopped; false The preflight checks are failed

Start or stop motors May have no effect if motors has auto-start based on throttle setpoint or when the preflight checks are failing.

Definition at line 250 of file autopilot.c.

References autopilot, autopilot_force_motors_on(), pprz_autopilot::motors_on, preflight_bypass, and preflight_check().

Referenced by actuators_ardrone_motor_status(), actuators_bebop_commit(), autopilot_set_kill_throttle(), autopilot_static_set_mode(), ground_detect_periodic(), mavlink_common_message_handler(), nav_takeoff_run(), NavKillThrottle(), and NavResurrect().

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◆ autopilot_SetModeHandler()

void autopilot_SetModeHandler ( float mode )

extern

Handler for setter function with dl_setting.

Definition at line 211 of file autopilot.c.

References autopilot_generated_SetModeHandler(), autopilot_static_SetModeHandler(), and mode.

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◆ autopilot_store_settings()

void autopilot_store_settings ( void )

extern

Store marked settings in flash Try to make sure that we don't write to flash while flying Also provide macro for dl_setting backward compatibility.

Definition at line 347 of file autopilot.c.

References autopilot, pprz_autopilot::kill_throttle, settings_store(), and settings_store_flag.

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◆ autopilot_throttle_killed()

bool autopilot_throttle_killed ( void )

extern

Get kill status.

Returns: true if motors are killed

Get kill status.

Definition at line 313 of file autopilot.c.

References autopilot, and pprz_autopilot::kill_throttle.

Referenced by electrical_periodic(), geo_mag_periodic(), mavlink_send_heartbeat(), nav_skid_landing_run(), v_ctl_climb_loop(), and v_ctl_landing_loop().

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Variable Documentation

◆ autopilot

struct pprz_autopilot autopilot

extern

Global autopilot structure.

Definition at line 49 of file autopilot.c.

Referenced by attitude_loop(), autopilot_arming_check_motors_on(), autopilot_arming_check_motors_on(), autopilot_arming_check_valid(), autopilot_arming_check_valid(), autopilot_arming_motors_on(), autopilot_check_in_flight(), autopilot_clear_settings(), autopilot_event(), autopilot_failsafe_checks(), autopilot_force_motors_on(), autopilot_generated_init(), autopilot_generated_on_rc_frame(), autopilot_generated_periodic(), autopilot_generated_set_mode(), autopilot_generated_set_motors_on(), autopilot_get_mode(), autopilot_get_motors_on(), autopilot_in_flight(), autopilot_init(), autopilot_periodic(), autopilot_reset_flight_time(), autopilot_set_in_flight(), autopilot_set_mode(), autopilot_set_motors_on(), autopilot_static_init(), autopilot_static_on_rc_frame(), autopilot_static_periodic(), autopilot_static_set_mode(), autopilot_static_set_motors_on(), autopilot_store_settings(), autopilot_throttle_killed(), calc_flight_time_left(), check_parachute_arming(), check_parachute_trigger(), control_mixing_heewing_attitude_direct(), control_mixing_heewing_attitude_plane(), control_mixing_heewing_manual(), control_mixing_heewing_nav_run(), draw_osd(), Drift_correction(), e_identification_fr_periodic(), eff_scheduling_rotwing_update_hover_motor_effectiveness(), gazebo_write(), generic_com_periodic(), gsm_send_report_continue(), h_ctl_course_loop(), h_ctl_pitch_loop(), h_ctl_roll_loop(), main_recovery_init(), mf_daq_send_state(), monitor_task(), nav_bungee_takeoff_run(), nav_catapult_highrate_module(), nav_check_wp_time(), nav_check_wp_time(), nav_detect_ground(), nav_home(), nav_takeoff_run(), nps_autopilot_run_step(), oneloop_andi_run(), parse_mf_daq_msg(), rotwing_state_choose_state_by_dist(), rotwing_state_periodic(), send_energy(), send_fp(), send_minimal_com(), send_mode(), send_status(), takeoff_detect_periodic(), uav_recovery_periodic(), v_ctl_climb_loop(), v_ctl_guidance_loop(), v_ctl_set_pitch(), and v_ctl_set_throttle().

Macros
#define	USE_GENERATED_AUTOPILOT FALSE

#define	autopilot_ResetFlightTimeAndLaunch(_) autopilot_reset_flight_time()

#define	autopilot_KillThrottle(_kill) autopilot_set_kill_throttle(_kill)

#define	autopilot_StoreSettings(_) autopilot_store_settings()

#define	autopilot_ClearSettings(_) autopilot_clear_settings()

Data Structures

Macros

Functions

Variables

Detailed Description

Data Structure Documentation

◆ pprz_autopilot

Macro Definition Documentation

◆ autopilot_ClearSettings

◆ autopilot_KillThrottle

◆ autopilot_ResetFlightTimeAndLaunch

◆ autopilot_StoreSettings

◆ USE_GENERATED_AUTOPILOT

Function Documentation

◆ autopilot_arming_motors_on()

◆ autopilot_check_in_flight()

◆ autopilot_clear_settings()

◆ autopilot_event()

◆ autopilot_failsafe_checks()

◆ autopilot_force_motors_on()

◆ autopilot_get_mode()

◆ autopilot_get_motors_on()

◆ autopilot_in_flight()

◆ autopilot_init()

◆ autopilot_on_rc_frame()

◆ autopilot_periodic()

◆ autopilot_reset_flight_time()

◆ autopilot_reset_in_flight_counter()

◆ autopilot_send_mode()

◆ autopilot_send_version()

◆ autopilot_set_in_flight()

◆ autopilot_set_kill_throttle()

◆ autopilot_set_mode()

◆ autopilot_set_motors_on()

◆ autopilot_SetModeHandler()

◆ autopilot_store_settings()

◆ autopilot_throttle_killed()

Variable Documentation

◆ autopilot