Paparazzi UAS  v5.15_devel-112-g521f3cf
Paparazzi is a free software Unmanned Aircraft System.
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autopilot_static.h File Reference

Fixedwing autopilot modes (static implementation). More...

#include "autopilot.h"
+ Include dependency graph for autopilot_static.h:
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Go to the source code of this file.

Macros

#define AP_MODE_MANUAL   0
 AP modes. More...
 
#define AP_MODE_AUTO1   1
 
#define AP_MODE_AUTO2   2
 
#define AP_MODE_HOME   3
 
#define AP_MODE_GPS_OUT_OF_ORDER   4
 
#define AP_MODE_NB   5
 
#define CONTROL_FREQUENCY   60
 
#define NAVIGATION_FREQUENCY   4
 

Functions

void autopilot_static_init (void)
 Static autopilot functions. 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)
 AP mode setting handler. More...
 
void autopilot_static_set_motors_on (bool motors_on)
 
void navigation_task (void)
 Control loops FIXME should be somewhere else. More...
 
void attitude_loop (void)
 

Detailed Description

Fixedwing autopilot modes (static implementation).

Definition in file autopilot_static.h.

Macro Definition Documentation

#define AP_MODE_GPS_OUT_OF_ORDER   4
#define AP_MODE_NB   5

Definition at line 41 of file autopilot_static.h.

#define CONTROL_FREQUENCY   60

Definition at line 67 of file autopilot_static.h.

Referenced by init_ap(), and v_ctl_landing_loop().

#define NAVIGATION_FREQUENCY   4

Definition at line 72 of file autopilot_static.h.

Referenced by init_ap().

Function Documentation

void autopilot_static_init ( void  )

Static autopilot functions.

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.

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.

void autopilot_static_periodic ( void  )

Definition at line 104 of file autopilot_static.c.

void autopilot_static_set_mode ( uint8_t  new_autopilot_mode)

Definition at line 194 of file autopilot_static.c.

void autopilot_static_set_motors_on ( bool  motors_on)

Definition at line 206 of file autopilot_static.c.

void autopilot_static_SetModeHandler ( float  mode)

AP mode setting handler.

Checks RC status before calling autopilot_static_set_mode function

Definition at line 201 of file autopilot_static.c.

void navigation_task ( void  )