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/mission/copilot.h"
#include "modules/datalink/telemetry.h"

Include dependency graph for copilot_common.c:

Go to the source code of this file.

Functions
void	copilot_init (void)
	Init function.

void	copilot_periodic (void)
	Periodic function.

void	copilot_parse_cam_snapshot_dl (uint8_t *buf)
	copy CAMERA_SNAPSHOT message and mark it to be sent

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

Variables
bool	send_cam_snapshot

bool	send_cam_payload

bool	send_copilot_status

struct CameraPayload	cam_payload

struct CameraSnapshot	cam_snapshot

struct CopilotStatus	copilot_status

pprz_mutex_t	copilot_cam_snapshot_mtx

pprz_mutex_t	copilot_cam_payload_mtx

pprz_mutex_t	copilot_status_mtx

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_common.c.

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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ copilot_parse_cam_snapshot_dl()

void copilot_parse_cam_snapshot_dl ( uint8_t * buf )

copy CAMERA_SNAPSHOT message and mark it to be sent

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.