autopilot_utils.h File Reference

Utility functions and includes for autopilots. More...

#include "std.h"
#include "generated/airframe.h"

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Macros
#define	AP_MODE_OF_PULSE(pprz)
	Get mode from pulse.
#define	STICK_PUSHED(pprz)   (pprz < THRESHOLD1 || pprz > THRESHOLD2)
	Stick pushed.
#define	FLOAT_OF_PPRZ(pprz, center, travel)   ((float)pprz / (float)MAX_PPRZ * travel + center)
	pprz_t to float with saturation
#define	THROTTLE_THRESHOLD_TAKEOFF   (pprz_t)(MAX_PPRZ * 0.9)
	Takeoff detection threshold from throttle.
#define	THRESHOLD_MANUAL_PPRZ   (MIN_PPRZ / 2)
	Threshold for RC mode detection.
#define	THRESHOLD1   THRESHOLD_MANUAL_PPRZ
#define	THRESHOLD2   (MAX_PPRZ/2)
#define	AP_COMMAND_SET_ROLL(_roll)   { command_set(COMMAND_ROLL, _roll); }
	AP command setter macros for usual commands.
#define	AP_COMMAND_SET_PITCH(_pitch)   { command_set(COMMAND_PITCH, _pitch); }
#define	AP_COMMAND_SET_YAW(_yaw)   {}
#define	AP_COMMAND_SET_THROTTLE(_throttle)
#define	AP_COMMAND_SET_CL(_cl)   {}
#define	AP_SETPOINT_ROLL(_roll, _max)
#define	AP_SETPOINT_PITCH(_pitch, _max)
#define	AP_SETPOINT_YAW_RATE(_yaw, _max)   {}
#define	AP_SETPOINT_THROTTLE(_throttle)

Detailed Description

Utility functions and includes for autopilots.

Definition in file autopilot_utils.h.

Macro Definition Documentation

AP_COMMAND_SET_CL

#define AP_COMMAND_SET_CL

(

_cl

)

{}

Definition at line 85 of file autopilot_utils.h.

AP_COMMAND_SET_PITCH

#define AP_COMMAND_SET_PITCH

(

_pitch

)

{ command_set(COMMAND_PITCH, _pitch); }

Definition at line 66 of file autopilot_utils.h.

AP_COMMAND_SET_ROLL

#define AP_COMMAND_SET_ROLL

(

_roll

)

{ command_set(COMMAND_ROLL, _roll); }

AP command setter macros for usual commands.

Definition at line 63 of file autopilot_utils.h.

AP_COMMAND_SET_THROTTLE

#define AP_COMMAND_SET_THROTTLE

(

_throttle

)

Value:

  { \
  command_set(COMMAND_THROTTLE, _throttle); \
  autopilot.throttle = _throttle; \
}

Definition at line 76 of file autopilot_utils.h.

AP_COMMAND_SET_YAW

#define AP_COMMAND_SET_YAW

(

_yaw

)

{}

Definition at line 72 of file autopilot_utils.h.

AP_MODE_OF_PULSE

#define AP_MODE_OF_PULSE

(

pprz

)

Value:

  (pprz > THRESHOLD2 ? AP_MODE_AUTO2 : \
   (pprz > THRESHOLD1 ? AP_MODE_AUTO1 : AP_MODE_MANUAL))

Get mode from pulse.

Definition at line 37 of file autopilot_utils.h.

AP_SETPOINT_PITCH

#define AP_SETPOINT_PITCH	(		_pitch,
			_max
	)

Value:

  { \
  _pitch = FLOAT_OF_PPRZ(radio_control_get(RADIO_PITCH), 0., _max); \
}

Definition at line 94 of file autopilot_utils.h.

AP_SETPOINT_ROLL

#define AP_SETPOINT_ROLL	(		_roll,
			_max
	)

Value:

  { \
  _roll = FLOAT_OF_PPRZ(radio_control_get(RADIO_ROLL), 0., _max); \
}

Definition at line 89 of file autopilot_utils.h.

AP_SETPOINT_THROTTLE

#define AP_SETPOINT_THROTTLE

(

_throttle

)

Value:

  { \
  _throttle = radio_control_get(RADIO_THROTTLE); \
}

Definition at line 108 of file autopilot_utils.h.

AP_SETPOINT_YAW_RATE

#define AP_SETPOINT_YAW_RATE	(		_yaw,
			_max
	)		{}

Definition at line 104 of file autopilot_utils.h.

FLOAT_OF_PPRZ

#define FLOAT_OF_PPRZ	(		pprz,
			center,
			travel
	)		((float)pprz / (float)MAX_PPRZ * travel + center)

pprz_t to float with saturation

Definition at line 47 of file autopilot_utils.h.

STICK_PUSHED

#define STICK_PUSHED

(

pprz

)

(pprz < THRESHOLD1 || pprz > THRESHOLD2)

Stick pushed.

Definition at line 43 of file autopilot_utils.h.

THRESHOLD1

#define THRESHOLD1   THRESHOLD_MANUAL_PPRZ

Definition at line 56 of file autopilot_utils.h.

THRESHOLD2

#define THRESHOLD2   (MAX_PPRZ/2)

Definition at line 57 of file autopilot_utils.h.

THRESHOLD_MANUAL_PPRZ

#define THRESHOLD_MANUAL_PPRZ   (MIN_PPRZ / 2)

Threshold for RC mode detection.

Definition at line 55 of file autopilot_utils.h.

THROTTLE_THRESHOLD_TAKEOFF

#define THROTTLE_THRESHOLD_TAKEOFF   (pprz_t)(MAX_PPRZ * 0.9)

Takeoff detection threshold from throttle.

Definition at line 51 of file autopilot_utils.h.