Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
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autopilot.h
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1 /*
2  * Copyright (C) 2003 Pascal Brisset, Antoine Drouin
3  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
4  * Copyright (C) 2016-2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
5  *
6  * This file is part of paparazzi.
7  *
8  * paparazzi is free software; you can redistribute it and/or modify
9  * it under the terms of the GNU General Public License as published by
10  * the Free Software Foundation; either version 2, or (at your option)
11  * any later version.
12  *
13  * paparazzi is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16  * GNU General Public License for more details.
17  *
18  * You should have received a copy of the GNU General Public License
19  * along with paparazzi; see the file COPYING. If not, see
20  * <http://www.gnu.org/licenses/>.
21  */
22 
32 #ifndef AUTOPILOT_H
33 #define AUTOPILOT_H
34 
35 #ifdef __cplusplus
36 extern "C" {
37 #endif
38 
39 #include "std.h"
40 #include "paparazzi.h"
41 #include "generated/airframe.h"
42 #include "state.h"
43 #include "autopilot_utils.h"
44 
45 // include firmware specific header
46 #include "autopilot_firmware.h"
47 
48 // include static or generated autopilot
49 // static version by default
50 #ifndef USE_GENERATED_AUTOPILOT
51 #define USE_GENERATED_AUTOPILOT FALSE
52 #endif
53 
54 #if USE_GENERATED_AUTOPILOT
55 #include "autopilot_generated.h"
56 #else
57 #include "autopilot_static.h"
58 #endif
59 
68  bool motors_on;
70  bool in_flight;
71  bool launch;
72  bool use_rc;
73  bool power_switch;
76 };
77 
78 
81 extern struct pprz_autopilot autopilot;
82 
85 extern void autopilot_init(void);
86 
89 extern void autopilot_periodic(void);
90 
93 extern void autopilot_event(void);
94 
97 extern void autopilot_on_rc_frame(void);
98 
104 extern bool autopilot_set_mode(uint8_t new_autopilot_mode);
105 
108 extern void autopilot_SetModeHandler(float new_autopilot_mode);
109 
114 extern uint8_t autopilot_get_mode(void);
115 
119 extern void autopilot_reset_flight_time(void);
120 #define autopilot_ResetFlightTimeAndLaunch(_) autopilot_reset_flight_time()
121 
127 extern void autopilot_set_motors_on(bool motors_on);
128 
133 extern bool autopilot_get_motors_on(void);
134 
140 extern void autopilot_set_kill_throttle(bool kill);
141 #define autopilot_KillThrottle(_kill) autopilot_set_kill_throttle(_kill)
142 
147 extern bool autopilot_throttle_killed(void);
148 
153 extern void autopilot_check_in_flight(bool motors_on);
154 
159 extern void autopilot_set_in_flight(bool in_flight);
160 
165 extern bool autopilot_in_flight(void);
166 
170 extern void autopilot_reset_in_flight_counter(void);
171 
178 extern void autopilot_set_power_switch(bool power_switch);
179 #define autopilot_SetPowerSwitch(_ps) autopilot_set_power_switch(_ps)
180 
185 extern void autopilot_store_settings(void);
186 #define autopilot_StoreSettings(_) autopilot_store_settings()
187 
192 extern void autopilot_clear_settings(void);
193 #define autopilot_ClearSettings(_) autopilot_clear_settings()
194 
197 extern void autopilot_send_version(void);
198 
201 extern void autopilot_send_mode(void);
202 
203 #ifdef __cplusplus
204 }
205 #endif
206 
207 #endif /* AUTOPILOT_H */
208 
unsigned short uint16_t
Definition: types.h:16
bool launch
request launch
Definition: autopilot.h:71
bool use_rc
enable/disable RC input
Definition: autopilot.h:72
void autopilot_init(void)
Autopilot initialization function.
Definition: autopilot.c:91
bool in_flight
in flight status
Definition: autopilot.h:70
int16_t pprz_t
Definition: paparazzi.h:6
void autopilot_set_in_flight(bool in_flight)
Set in flight status.
Definition: autopilot.c:247
uint16_t flight_time
flight time in seconds
Definition: autopilot.h:65
bool autopilot_set_mode(uint8_t new_autopilot_mode)
Set new autopilot mode.
Definition: autopilot.c:161
bool autopilot_throttle_killed(void)
Get kill status.
Definition: autopilot.c:230
void autopilot_check_in_flight(bool motors_on)
Check if airframe is in flight.
Definition: autopilot.c:238
void autopilot_store_settings(void)
Store marked settings in flash Try to make sure that we don't write to flash while flying Also provid...
Definition: autopilot.c:278
struct pprz_autopilot autopilot
Global autopilot structure.
Definition: autopilot.c:50
void autopilot_reset_in_flight_counter(void)
reset in_flight counter actual implementation is firmware dependent
Definition: autopilot.c:243
bool detect_ground_once
enable automatic detection of ground (one shot)
Definition: autopilot.h:75
bool power_switch
enable/disable power from power switch (if any)
Definition: autopilot.h:73
uint8_t mode_auto2
FIXME hide this in a private part ?
Definition: autopilot.h:64
void autopilot_reset_flight_time(void)
Reset flight time and launch status Also provide macro for dl_setting backward compatibility.
Definition: autopilot.c:191
void autopilot_SetModeHandler(float new_autopilot_mode)
Handler for setter function with dl_setting.
Definition: autopilot.c:173
uint8_t arming_status
arming status
Definition: autopilot.h:67
PPRZ Autopilot structure definition.
Definition: autopilot.h:62
void autopilot_periodic(void)
Autopilot periodic call at PERIODIC_FREQUENCY.
Definition: autopilot.c:135
uint8_t autopilot_get_mode(void)
Get autopilot mode.
Definition: autopilot.c:184
bool motors_on
motor status
Definition: autopilot.h:68
unsigned char uint8_t
Definition: types.h:14
API to get/set the generic vehicle states.
void autopilot_set_power_switch(bool power_switch)
Set power switch state This will actually enable the switch if POWER_SWITCH_GPIO is defined Also prov...
Definition: autopilot.c:264
void autopilot_send_mode(void)
Report autopilot mode on default downlink channel.
Definition: autopilot.c:306
void autopilot_set_motors_on(bool motors_on)
Start or stop motors May have no effect if motors has auto-start based on throttle setpoint...
Definition: autopilot.c:200
void autopilot_set_kill_throttle(bool kill)
Enable or disable motor control from autopilot Also provide macro for dl_setting backward compatibili...
Definition: autopilot.c:219
bool autopilot_get_motors_on(void)
Get motor status.
Definition: autopilot.c:212
void autopilot_on_rc_frame(void)
Autopilot RC input event hadler.
Definition: autopilot.c:150
void autopilot_send_version(void)
Report autopilot version on default downlink channel.
Definition: autopilot.c:298
bool kill_throttle
allow autopilot to use throttle
Definition: autopilot.h:69
bool ground_detected
automatic detection of landing
Definition: autopilot.h:74
uint8_t mode
current autopilot mode
Definition: autopilot.h:63
void autopilot_event(void)
Autopilot event check function.
Definition: autopilot.c:146
bool autopilot_in_flight(void)
Get in flight status.
Definition: autopilot.c:257
void autopilot_clear_settings(void)
Clear marked settings in flash try to make sure that we don't write to flash while flying Also provid...
Definition: autopilot.c:288
pprz_t throttle
throttle level as will be displayed in GCS
Definition: autopilot.h:66