Paparazzi UAS  v5.15_devel-111-g8fb4629
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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 "subsystems/datalink/telemetry.h"
#include "generated/settings.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include <CTRL_TYPE_H>
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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)
 
void autopilot_send_mode (void)
 Report autopilot mode on default downlink channel. More...
 
void autopilot_firmware_init (void)
 Init function. More...
 

Variables

struct Electrical ap_electrical
 
uint8_t lateral_mode
 
uint8_t mcu1_status
 Second MCU status (FBW part) More...
 
uint8_t rc_settings_mode = 0
 

Detailed Description

Fixedwing specific autopilot interface and initialization.

Definition in file autopilot_firmware.c.

Function Documentation

void autopilot_firmware_init ( void  )

Init function.

Definition at line 114 of file autopilot_firmware.c.

Referenced by autopilot_init().

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void autopilot_send_mode ( void  )

Report autopilot mode on default downlink channel.

Report autopilot mode on default downlink channel.

Definition at line 106 of file autopilot_firmware.c.

References DefaultChannel, DefaultDevice, and send_mode().

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

Definition at line 91 of file autopilot_firmware.c.

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

Definition at line 69 of file autopilot_firmware.c.

References ap_electrical, autopilot, Electrical::charge, Electrical::current, Electrical::energy, MAX_PPRZ, pprz_autopilot::throttle, and Electrical::vsupply.

Referenced by autopilot_firmware_init().

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

Definition at line 63 of file autopilot_firmware.c.

References stateGetPositionUtm_f(), and stateGetSpeedEnu_f().

Referenced by autopilot_firmware_init().

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

Definition at line 57 of file autopilot_firmware.c.

References autopilot, horizontal_mode, lateral_mode, mcu1_status, pprz_autopilot::mode, rc_settings_mode, and v_ctl_mode.

Referenced by autopilot_firmware_init(), and autopilot_send_mode().

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Variable Documentation

uint8_t mcu1_status

Second MCU status (FBW part)

Definition at line 39 of file autopilot_firmware.c.

Referenced by mcu1_status_update(), and send_mode().

uint8_t rc_settings_mode = 0

Definition at line 54 of file autopilot_firmware.c.

Referenced by send_mode().