autopilot_static.h File Reference

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

#include "autopilot.h"

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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

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

AP_MODE_AUTO1

#define AP_MODE_AUTO1   1

Definition at line 37 of file autopilot_static.h.

AP_MODE_AUTO2

#define AP_MODE_AUTO2   2

Definition at line 38 of file autopilot_static.h.

AP_MODE_GPS_OUT_OF_ORDER

#define AP_MODE_GPS_OUT_OF_ORDER   4

Definition at line 40 of file autopilot_static.h.

AP_MODE_HOME

#define AP_MODE_HOME   3

Definition at line 39 of file autopilot_static.h.

AP_MODE_MANUAL

#define AP_MODE_MANUAL   0

AP modes.

Definition at line 36 of file autopilot_static.h.

AP_MODE_NB

#define AP_MODE_NB   5

Definition at line 41 of file autopilot_static.h.

CONTROL_FREQUENCY

#define CONTROL_FREQUENCY   60

Definition at line 60 of file autopilot_static.h.

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_static_init()

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 81 of file autopilot_static.c.

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.

autopilot_static_periodic()

void autopilot_static_periodic

(

void

)

Definition at line 93 of file autopilot_static.c.

autopilot_static_set_mode()

void autopilot_static_set_mode

(

uint8_t

new_autopilot_mode

)

Definition at line 140 of file autopilot_static.c.

autopilot_static_set_motors_on()

void autopilot_static_set_motors_on

(

bool

motors_on

)

Definition at line 152 of file autopilot_static.c.

autopilot_static_SetModeHandler()

void autopilot_static_SetModeHandler

(

float

mode

)

AP mode setting handler.

Checks RC status before calling autopilot_static_set_mode function

Definition at line 147 of file autopilot_static.c.

navigation_task()

void navigation_task

(

void

)

Control loops FIXME should be somewhere else.

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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