Paparazzi UAS  v5.15_devel-99-g2ff7410
Paparazzi is a free software Unmanned Aircraft System.
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autopilot_static.c File Reference
#include "autopilot.h"
#include "firmwares/fixedwing/autopilot_static.h"
#include "inter_mcu.h"
#include "link_mcu.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 "subsystems/gps.h"
#include "subsystems/datalink/downlink.h"
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Go to the source code of this file.

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. More...
 
static uint8_t mcu1_status_update (void)
 
static void copy_from_to_fbw (void)
 Send back uncontrolled channels. 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 attitude_loop (void)
 

Variables

static bool gps_lost
 
static uint8_t mcu1_ppm_cpt
 

Macro Definition Documentation

#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 59 of file autopilot_static.c.

Referenced by autopilot_static_on_rc_frame().

Function Documentation

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 90 of file autopilot_static.c.

Referenced by init_ap(), and main_init().

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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 112 of file autopilot_static.c.

Referenced by autopilot_on_rc_frame().

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void autopilot_static_periodic ( void  )

Definition at line 104 of file autopilot_static.c.

Referenced by autopilot_periodic().

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void autopilot_static_set_mode ( uint8_t  new_autopilot_mode)
void autopilot_static_set_motors_on ( bool  motors_on)

Definition at line 206 of file autopilot_static.c.

Referenced by autopilot_set_motors_on().

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void autopilot_static_SetModeHandler ( float  new_autopilot_mode)

Definition at line 201 of file autopilot_static.c.

Referenced by autopilot_SetModeHandler().

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static void copy_from_to_fbw ( void  )
inlinestatic

Send back uncontrolled channels.

Definition at line 401 of file autopilot_static.c.

References ap_state, fbw_state, PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, and RADIO_YAW.

Referenced by autopilot_static_on_rc_frame().

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static uint8_t mcu1_status_update ( void  )
inlinestatic

Definition at line 387 of file autopilot_static.c.

References mcu1_status.

Referenced by autopilot_static_on_rc_frame().

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void navigation_task ( void  )
static uint8_t pprz_mode_update ( void  )
inlinestatic

Update paparazzi mode.

Definition at line 349 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(), RADIO_MODE, THRESHOLD2, and UNLOCKED_HOME_MODE.

Referenced by autopilot_static_on_rc_frame().

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Variable Documentation

bool gps_lost
static

Definition at line 45 of file autopilot_static.c.

Referenced by autopilot_static_init(), and navigation_task().

uint8_t mcu1_ppm_cpt
static

Definition at line 50 of file autopilot_static.c.

Referenced by autopilot_static_on_rc_frame().