autopilot.h

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/*
 * Copyright (C) 2003  Pascal Brisset, Antoine Drouin
 * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
 * Copyright (C) 2016-2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef AUTOPILOT_H
#define AUTOPILOT_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "std.h"
#include "paparazzi.h"
#include "generated/airframe.h"
#include "state.h"
#include "autopilot_utils.h"
 
// include firmware specific header
#include "autopilot_firmware.h"
 
// include static or generated autopilot
// static version by default
#ifndef USE_GENERATED_AUTOPILOT
#define USE_GENERATED_AUTOPILOT FALSE
#endif
 
#if USE_GENERATED_AUTOPILOT
#include "autopilot_generated.h"
#else
#include "autopilot_static.h"
#endif
 
struct pprz_autopilot {
  uint8_t mode;             
  uint8_t mode_auto2;       
  uint16_t flight_time;     
  pprz_t throttle;          
  uint8_t arming_status;    
  bool motors_on;           
  bool kill_throttle;       
  bool in_flight;           
  bool launch;              
  bool use_rc;              
  bool ground_detected;     
  bool detect_ground_once;  
};
 
 
extern struct pprz_autopilot autopilot;
 
extern void autopilot_init(void);
 
extern void autopilot_periodic(void);
 
extern void autopilot_event(void);
 
extern void autopilot_on_rc_frame(void);
 
extern void autopilot_failsafe_checks(void);
 
extern bool autopilot_set_mode(uint8_t new_autopilot_mode);
 
extern void autopilot_SetModeHandler(float new_autopilot_mode);
 
extern uint8_t autopilot_get_mode(void);
 
extern void autopilot_reset_flight_time(void);
#define autopilot_ResetFlightTimeAndLaunch(_) autopilot_reset_flight_time()
 
extern void autopilot_force_motors_on(bool motors_on);
 
extern bool autopilot_set_motors_on(bool motors_on);
 
extern bool autopilot_arming_motors_on(bool motors_on);
 
extern bool autopilot_get_motors_on(void);
 
extern void autopilot_set_kill_throttle(bool kill);
#define autopilot_KillThrottle(_kill) autopilot_set_kill_throttle(_kill)
 
extern bool autopilot_throttle_killed(void);
 
extern void autopilot_check_in_flight(bool motors_on);
 
extern void autopilot_set_in_flight(bool in_flight);
 
extern bool autopilot_in_flight(void);
 
extern void autopilot_reset_in_flight_counter(void);
 
extern void autopilot_store_settings(void);
#define autopilot_StoreSettings(_) autopilot_store_settings()
 
extern void autopilot_clear_settings(void);
#define autopilot_ClearSettings(_) autopilot_clear_settings()
 
extern void autopilot_send_version(void);
 
extern void autopilot_send_mode(void);
 
#ifdef __cplusplus
}
#endif
 
#endif /* AUTOPILOT_H */