Mission Computer module, interfacing the mission computer (also known as Copilot), based losely on ISaAC: The Intelligent Safety and Airworthiness Co-Pilot module Based on paper "A Payload Verification and Management Framework for Small UAV-based Personal Remote Sensing Systems" by Cal Coopmans and Chris Coffin. More...

#include "modules/datalink/datalink.h"
#include "modules/datalink/extra_pprz_dl.h"
#include "modules/core/threads.h"

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Data Structures
struct	CameraPayload

struct	CameraSnapshot

struct	CopilotStatus

Functions
void	copilot_init (void)
	Init function.

void	copilot_periodic (void)
	Periodic function.

void	copilot_parse_cam_snapshot_dl (uint8_t *buf)
	Message processing functions.

void	copilot_parse_cam_payload_dl (uint8_t *buf)
	copy CAMERA_PAYLOAD message and mark it to be sent

void	copilot_parse_copilot_status_dl (uint8_t *buf)
	copy COPILOT_STATUS message and mark it to be sent

void	copilot_parse_move_wp_dl (uint8_t *buf)
	If MOVE_WP from GCS.

void	copilot_parse_payload_command_dl (uint8_t *buf)
	Pass through PAYLOAD_COMMAND message and send it as PAYLOAD msg over telemetry.

Variables
pprz_mutex_t	copilot_cam_snapshot_mtx

pprz_mutex_t	copilot_cam_payload_mtx

pprz_mutex_t	copilot_status_mtx

bool	send_cam_snapshot

bool	send_cam_payload

bool	send_copilot_status

Detailed Description

Mission Computer module, interfacing the mission computer (also known as Copilot), based losely on ISaAC: The Intelligent Safety and Airworthiness Co-Pilot module Based on paper "A Payload Verification and Management Framework for Small UAV-based Personal Remote Sensing Systems" by Cal Coopmans and Chris Coffin.

Link: http://ieeexplore.ieee.org/abstract/document/6309316/

More info can be found on http://wiki.paparazziuav.org/wiki/Mission_computer

Copilot is intended mainly for mapping applications.

This module processes messages from Copilot, and either forwards them to the GCS (such as CAMERA_SNAPSHOT or CAMERA_PAYLOAD messages), or responds to them as necessary (such as MOVE_WP).

The module assumes the source of the messages is trusted (i.e. not authentication besides AC_ID check is performed).

Definition in file copilot.h.

Data Structure Documentation

◆ CameraPayload

struct CameraPayload

Definition at line 56 of file copilot.h.

Data Fields
uint8_t	door_status
uint8_t	error_code
float	timestamp
uint8_t	used_disk
uint8_t	used_mem

◆ CameraSnapshot

struct CameraSnapshot

Definition at line 64 of file copilot.h.

Data Fields
float	array_temp
uint16_t	cam_id
uint8_t	cam_state
float	lens_temp
uint16_t	snapshot_num
uint8_t	snapshot_valid

◆ CopilotStatus

struct CopilotStatus

Definition at line 73 of file copilot.h.

Data Fields
uint8_t	error_code
uint8_t	status
float	timestamp
uint8_t	used_disk
uint8_t	used_mem

Function Documentation

◆ copilot_init()

void copilot_init ( void )

Init function.

Definition at line 60 of file copilot_common.c.

References cam_payload, cam_snapshot, copilot_cam_payload_mtx, copilot_cam_snapshot_mtx, copilot_status, copilot_status_mtx, foo, pprz_mtx_init(), send_cam_payload, send_cam_snapshot, and send_copilot_status.

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◆ copilot_parse_cam_payload_dl()

void copilot_parse_cam_payload_dl ( uint8_t * buf )

copy CAMERA_PAYLOAD message and mark it to be sent

Definition at line 147 of file copilot_common.c.

References cam_payload, copilot_cam_payload_mtx, CameraPayload::door_status, CameraPayload::error_code, foo, pprz_mtx_lock(), pprz_mtx_unlock(), send_cam_payload, CameraPayload::timestamp, CameraPayload::used_disk, and CameraPayload::used_mem.

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◆ copilot_parse_cam_snapshot_dl()

void copilot_parse_cam_snapshot_dl ( uint8_t * buf )

Message processing functions.

In case of multiple cameras, it is up to the payload computer to send CAMERA_SNAPSHOT messages for each camera at proper interval, so the values don't get overwritten.

Definition at line 127 of file copilot_common.c.

References CameraSnapshot::array_temp, CameraSnapshot::cam_id, cam_snapshot, CameraSnapshot::cam_state, copilot_cam_snapshot_mtx, foo, CameraSnapshot::lens_temp, pprz_mtx_lock(), pprz_mtx_unlock(), send_cam_snapshot, CameraSnapshot::snapshot_num, and CameraSnapshot::snapshot_valid.