autopilot_static.c File Reference

#include "autopilot.h"
#include "firmwares/fixedwing/autopilot_static.h"
#include "state.h"
#include "firmwares/fixedwing/nav.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "generated/flight_plan.h"
#include "modules/nav/nav_geofence.h"
#include "modules/gps/gps.h"
#include "modules/datalink/downlink.h"

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Macros
#define	RC_LOST_MODE   AP_MODE_HOME
	mode to enter when RC is lost in AP_MODE_MANUAL or AP_MODE_AUTO1 More...

Functions
static uint8_t	pprz_mode_update (void)
	Update paparazzi mode from RC. More...
void	autopilot_static_init (void)
	Static autopilot API. More...
void	autopilot_static_periodic (void)
void	autopilot_static_on_rc_frame (void)
	Function to be called when a message from FBW is available. More...
void	autopilot_static_set_mode (uint8_t new_autopilot_mode)
void	autopilot_static_SetModeHandler (float new_autopilot_mode)
void	autopilot_static_set_motors_on (bool motors_on)
void	navigation_task (void)
	Compute desired_course. More...
void	autopilot_failsafe_checks (void)
	Failsafe checks. More...
void	attitude_loop (void)

Macro Definition Documentation

RC_LOST_MODE

#define RC_LOST_MODE   AP_MODE_HOME

mode to enter when RC is lost in AP_MODE_MANUAL or AP_MODE_AUTO1

Definition at line 50 of file autopilot_static.c.

Function Documentation

attitude_loop()

void attitude_loop

(

void

)

Definition at line 299 of file autopilot_static.c.

References AP_COMMAND_SET_CL, AP_COMMAND_SET_PITCH, AP_COMMAND_SET_ROLL, AP_COMMAND_SET_THROTTLE, AP_COMMAND_SET_YAW, AP_MODE_AUTO1, AP_MODE_AUTO2, autopilot, autopilot_get_mode(), electrical, pprz_autopilot::flight_time, h_ctl_aileron_setpoint, h_ctl_attitude_loop(), h_ctl_elevator_setpoint, h_ctl_pitch_setpoint, pprz_autopilot::kill_throttle, pprz_autopilot::launch, MAX_PPRZ, nav_pitch, nav_throttle_setpoint, TRIM_PPRZ, TRIM_UPPRZ, v_ctl_climb_loop(), v_ctl_landing_loop(), v_ctl_mode, V_CTL_MODE_AUTO_CLIMB, V_CTL_MODE_AUTO_THROTTLE, V_CTL_MODE_LANDING, v_ctl_pitch_setpoint, v_ctl_throttle_setpoint, v_ctl_throttle_slew(), v_ctl_throttle_slewed, and Electrical::vsupply.

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autopilot_failsafe_checks()

void autopilot_failsafe_checks

(

void

)

Failsafe checks.

Autopilot periodic failsafe checks.

Checks order:

• mode from RC
• RC lost (if MANUAL or AUTO1)
• RC kill switch (any case)
• launch detect from RC
• GPS lost (if AUTO2 or HOME)
• too far from HOME (if not HOME or not GPS_OUT_OF_ORDER)

send mode if changed at the end

Definition at line 216 of file autopilot_static.c.

References AP_MODE_AUTO1, AP_MODE_AUTO2, AP_MODE_GPS_OUT_OF_ORDER, AP_MODE_HOME, AP_MODE_MANUAL, autopilot, autopilot_get_mode(), autopilot_set_kill_throttle(), autopilot_set_mode(), datalink_lost(), pprz_autopilot::flight_time, gps, higher_than_max_altitude(), GpsState::last_3dfix_time, pprz_autopilot::launch, MIN_PPRZ, sys_time::nb_sec, pprz_mode_update(), radio_control, radio_control_get(), RADIO_KILL_SWITCH, RADIO_THROTTLE, RadioControlIsLost, RC_LOST_MODE, rc_settings(), THROTTLE_THRESHOLD_TAKEOFF, too_far_from_home, and RadioControl::values.

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autopilot_static_init()

void autopilot_static_init

(

void

)

Static autopilot API.

Specific function for static AP.

Static autopilot functions.

Todo:

, properly implement or remove

Todo:

: properly implement/fix a triggered attitude loop

Definition at line 81 of file autopilot_static.c.

References ABI_BROADCAST, AP_MODE_AUTO2, autopilot, lateral_mode, LATERAL_MODE_MANUAL, and pprz_autopilot::mode.

Referenced by autopilot_init().

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autopilot_static_on_rc_frame()

void autopilot_static_on_rc_frame

(

void

)

Function to be called when a message from FBW is available.

In AUTO1 mode, compute roll setpoint and pitch setpoint from RADIO_ROLL and RADIO_PITCH

Roll is bounded between [-AUTO1_MAX_ROLL;AUTO1_MAX_ROLL]

Pitch is bounded between [-AUTO1_MAX_PITCH;AUTO1_MAX_PITCH]

Else asynchronously set by h_ctl_course_loop()

In AUTO1, throttle comes from RADIO_THROTTLE In MANUAL, the value is copied to get it in the telemetry

else asynchronously set by v_ctl_climb_loop();

Definition at line 100 of file autopilot_static.c.

References AP_MODE_AUTO1, AP_MODE_MANUAL, autopilot, autopilot_get_mode(), commands, FLOAT_OF_PPRZ, h_ctl_pitch_setpoint, h_ctl_roll_setpoint, radio_control, radio_control_get(), RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, pprz_autopilot::throttle, v_ctl_throttle_setpoint, and RadioControl::values.

Referenced by autopilot_on_rc_frame().

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autopilot_static_periodic()

void autopilot_static_periodic

(

void

)

Definition at line 93 of file autopilot_static.c.

Referenced by autopilot_periodic().

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autopilot_static_set_mode()

void autopilot_static_set_mode

(

uint8_t

new_autopilot_mode

)

Definition at line 140 of file autopilot_static.c.

References autopilot, and pprz_autopilot::mode.

Referenced by autopilot_set_mode(), autopilot_static_init(), autopilot_static_on_rc_frame(), autopilot_static_periodic(), and autopilot_static_SetModeHandler().

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autopilot_static_set_motors_on()

void autopilot_static_set_motors_on

(

bool

motors_on

)

Definition at line 152 of file autopilot_static.c.

References autopilot, and pprz_autopilot::motors_on.

Referenced by autopilot_force_motors_on().

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autopilot_static_SetModeHandler()

void autopilot_static_SetModeHandler

(

float

new_autopilot_mode

)

Definition at line 147 of file autopilot_static.c.

References autopilot_static_set_mode().

Referenced by autopilot_SetModeHandler().

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navigation_task()

void navigation_task

(

void

)

Compute desired_course.

Control loops FIXME should be somewhere else.

Definition at line 163 of file autopilot_static.c.

References AP_MODE_AUTO2, AP_MODE_GPS_OUT_OF_ORDER, AP_MODE_HOME, autopilot_get_mode(), callTCAS(), common_nav_periodic_task(), DefaultChannel, DefaultDevice, h_ctl_auto1_rate, h_ctl_course_loop(), lateral_mode, LATERAL_MODE_COURSE, nav_home(), nav_periodic_task(), nav_without_gps(), SEND_NAVIGATION, v_ctl_altitude_loop(), v_ctl_mode, and V_CTL_MODE_AUTO_ALT.

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pprz_mode_update()

static uint8_t pprz_mode_update ( void  )

inlinestatic

Update paparazzi mode from RC.

Definition at line 356 of file autopilot_static.c.

References AP_MODE_AUTO1, AP_MODE_AUTO2, AP_MODE_GPS_OUT_OF_ORDER, AP_MODE_HOME, AP_MODE_MANUAL, AP_MODE_OF_PULSE, autopilot_get_mode(), autopilot_set_mode(), b, radio_control_get(), RADIO_MODE, THRESHOLD2, and UNLOCKED_HOME_MODE.

Referenced by autopilot_failsafe_checks().

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