autopilot_firmware.c File Reference

Fixedwing specific autopilot interface and initialization. More...

#include "firmwares/fixedwing/autopilot_firmware.h"
#include "state.h"
#include "firmwares/fixedwing/nav.h"
#include <stdint.h>
#include "modules/energy/electrical.h"
#include "modules/datalink/telemetry.h"
#include "generated/settings.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include <CTRL_TYPE_H>
#include "modules/radio_control/radio_control.h"
#include "generated/flight_plan.h"
#include "generated/airframe.h"

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Macros
#define	CATASTROPHIC_BAT_KILL_DELAY   5
	Maximum time allowed for catastrophic battery level before going into kill mode.
#define	KILL_MODE_DISTANCE   (1.5*MAX_DIST_FROM_HOME)
	Maximum distance from HOME waypoint before going into kill mode.
#define	MIN_SPEED_FOR_TAKEOFF   5.
	Default minimal speed for takeoff in m/s.

Functions
static void	send_mode (struct transport_tx *trans, struct link_device *dev)
static void	send_estimator (struct transport_tx *trans, struct link_device *dev)
static void	send_energy (struct transport_tx *trans, struct link_device *dev)
static void	send_desired (struct transport_tx *trans, struct link_device *dev)
static void	send_airspeed (struct transport_tx *trans, struct link_device *dev)
static void	send_fbw_status (struct transport_tx *trans, struct link_device *dev)
void	autopilot_send_mode (void)
	Report autopilot mode on default downlink channel.
void	autopilot_firmware_init (void)
	Init function.
void	monitor_task (void)
	monitor stuff run at 1Hz

Variables
uint8_t	lateral_mode
uint8_t	rc_settings_mode = 0

Detailed Description

Fixedwing specific autopilot interface and initialization.

Definition in file autopilot_firmware.c.

Macro Definition Documentation

CATASTROPHIC_BAT_KILL_DELAY

#define CATASTROPHIC_BAT_KILL_DELAY   5

Maximum time allowed for catastrophic battery level before going into kill mode.

Definition at line 185 of file autopilot_firmware.c.

KILL_MODE_DISTANCE

#define KILL_MODE_DISTANCE   (1.5*MAX_DIST_FROM_HOME)

Maximum distance from HOME waypoint before going into kill mode.

Definition at line 190 of file autopilot_firmware.c.

MIN_SPEED_FOR_TAKEOFF

#define MIN_SPEED_FOR_TAKEOFF   5.

Default minimal speed for takeoff in m/s.

Definition at line 195 of file autopilot_firmware.c.

Function Documentation

autopilot_firmware_init()

void autopilot_firmware_init

(

void

)

Init function.

Definition at line 157 of file autopilot_firmware.c.

References DefaultPeriodic, foo, register_periodic_telemetry(), send_airspeed(), send_desired(), send_energy(), send_estimator(), send_fbw_status(), and send_mode().

Referenced by autopilot_init().

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autopilot_send_mode()

void autopilot_send_mode

(

void

)

Report autopilot mode on default downlink channel.

Report autopilot mode on default downlink channel.

Definition at line 149 of file autopilot_firmware.c.

References DefaultChannel, DefaultDevice, and send_mode().

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monitor_task()

void monitor_task

(

void

)

monitor stuff run at 1Hz

monitoring task should be called at 1Hz

Definition at line 199 of file autopilot_firmware.c.

References autopilot, CATASTROPHIC_BAT_KILL_DELAY, DefaultChannel, DefaultDevice, dist2_to_home, electrical, pprz_autopilot::flight_time, foo, KILL_MODE_DISTANCE, pprz_autopilot::kill_throttle, pprz_autopilot::launch, MIN_SPEED_FOR_TAKEOFF, sys_time::nb_sec, Square, stateGetHorizontalSpeedNorm_f(), and Electrical::vsupply.

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send_airspeed()

static void send_airspeed ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 112 of file autopilot_firmware.c.

References dev, foo, stateGetAirspeed_f(), v_ctl_auto_airspeed_controlled, v_ctl_auto_airspeed_setpoint, and v_ctl_auto_groundspeed_setpoint.

Referenced by autopilot_firmware_init().

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send_desired()

static void send_desired ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 101 of file autopilot_firmware.c.

References desired_x, desired_y, dev, foo, h_ctl_course_setpoint, h_ctl_pitch_loop_setpoint, h_ctl_roll_setpoint, v_ctl_altitude_setpoint, v_ctl_auto_airspeed_setpoint, and v_ctl_climb_setpoint.

Referenced by autopilot_firmware_init().

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send_energy()

static void send_energy ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 85 of file autopilot_firmware.c.

References autopilot, Electrical::avg_cnt, Electrical::avg_power, Electrical::charge, Electrical::current, dev, electrical, Electrical::energy, foo, MAX_PPRZ, pprz_autopilot::throttle, and Electrical::vsupply.

Referenced by autopilot_firmware_init().

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send_estimator()

static void send_estimator ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 79 of file autopilot_firmware.c.

References dev, foo, stateGetPositionUtm_f(), and stateGetSpeedEnu_f().

Referenced by autopilot_firmware_init().

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send_fbw_status()

static void send_fbw_status ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 128 of file autopilot_firmware.c.

References AP_MODE_MANUAL, autopilot_get_mode(), Electrical::current, dev, electrical, fbw_mode, foo, RadioControl::frame_rate, radio_control, RadioControl::status, and Electrical::vsupply.

Referenced by autopilot_firmware_init().

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send_mode()

static void send_mode ( struct transport_tx *  trans, struct link_device *  dev  )

static

Old FBW status

• bit 0: RC OK
• bit 1: RC REALLY LOST
• bit 2: FBW AUTO
• bit 3: FBW FAILSAFE
• bit 4: RC averaged channels sent

Definition at line 56 of file autopilot_firmware.c.

References AP_MODE_MANUAL, autopilot, autopilot_get_mode(), dev, foo, horizontal_mode, lateral_mode, pprz_autopilot::mode, radio_control, RC_OK, RC_REALLY_LOST, rc_settings_mode, RadioControl::status, and v_ctl_mode.

Referenced by autopilot_firmware_init(), and autopilot_send_mode().

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Variable Documentation

lateral_mode

uint8_t lateral_mode

Definition at line 38 of file autopilot_firmware.c.

Referenced by autopilot_static_init(), collective_tracking_control(), fly_to_xy(), gvf_low_level_control_2D(), gvf_low_level_control_3D(), h_ctl_guidance_loop(), nav_without_gps(), navigation_task(), send_mode(), and v_ctl_landing_loop().

rc_settings_mode

uint8_t rc_settings_mode = 0

Definition at line 53 of file autopilot_firmware.c.

Referenced by send_mode().