#include "modules/glide_wing_lock/glide_wing_lock.h"
#include "pprzlink/messages.h"
#include "mcu_periph/uart.h"
#include "modules/datalink/downlink.h"
#include "mcu_periph/adc.h"
#include "modules/core/commands.h"
#include "modules/radio_control/radio_control.h"
#include "autopilot.h"

Include dependency graph for glide_wing_lock.c:

Macros
#define	WING_POS_DOWN_THRESH 100

#define	WING_POS_LOCK_MIN_THRESH 2000

#define	WING_POS_LOCK_MAX_THRESH 2100

#define	WING_POS_NOMINAL_THRUST 5000

#define	WING_POS_LOCK_SWITCH RADIO_AUX2

Functions
void	glide_wing_lock_init (void)

void	glide_wing_lock_event ()

void	glide_wing_lock_periodic ()

void	set_rotorcraft_commands (pprz_t cmd_out, int32_t cmd_in, bool in_flight, bool motors_on)
	Set Rotorcraft commands. More...

Variables
struct adc_buf	adcbuf

int	lock_wings

Detailed Description

Author: Kevin van Hecke Locks the wing of an ornicopter so it can glide.

Definition in file glide_wing_lock.c.

Macro Definition Documentation

◆ WING_POS_DOWN_THRESH

#define WING_POS_DOWN_THRESH 100

Definition at line 42 of file glide_wing_lock.c.

◆ WING_POS_LOCK_MAX_THRESH

#define WING_POS_LOCK_MAX_THRESH 2100

Definition at line 48 of file glide_wing_lock.c.

◆ WING_POS_LOCK_MIN_THRESH

#define WING_POS_LOCK_MIN_THRESH 2000

Definition at line 45 of file glide_wing_lock.c.

◆ WING_POS_LOCK_SWITCH

#define WING_POS_LOCK_SWITCH RADIO_AUX2

Definition at line 54 of file glide_wing_lock.c.

◆ WING_POS_NOMINAL_THRUST

#define WING_POS_NOMINAL_THRUST 5000

Definition at line 51 of file glide_wing_lock.c.

Function Documentation

◆ glide_wing_lock_event()

void glide_wing_lock_event ( void )

Definition at line 63 of file glide_wing_lock.c.

References adcbuf, adc_buf::av_nb_sample, lock_wings, MIN_PPRZ, radio_control, adc_buf::sum, RadioControl::values, WING_POS_DOWN_THRESH, WING_POS_LOCK_MAX_THRESH, WING_POS_LOCK_MIN_THRESH, and WING_POS_LOCK_SWITCH.

◆ glide_wing_lock_init()

void glide_wing_lock_init ( void )

Definition at line 58 of file glide_wing_lock.c.

References adc_buf_channel(), and adcbuf.

Here is the call graph for this function:

◆ glide_wing_lock_periodic()

void glide_wing_lock_periodic ( void )

Definition at line 101 of file glide_wing_lock.c.

References adcbuf, adc_buf::av_nb_sample, DefaultChannel, DefaultDevice, and adc_buf::sum.

◆ set_rotorcraft_commands()

void set_rotorcraft_commands	(	pprz_t *	cmd_out,
		int32_t *	cmd_in,
		bool	in_flight,
		bool	motors_on
	)

Set Rotorcraft commands.

Get autopilot mode from two 2way switches.

Limit thrust and/or yaw depending of the in_flight and motors_on flag status

A default implementation is provided, but the function can be redefined

Parameters

[out]	cmd_out	output command vector in pprz_t (usually commands array)
	[in/out]	cmd_in input commands to apply, might be affected by in_flight and motors_on param (FIXME really ?)
[in]	in_flight	tells if rotorcraft is in flight
[in]	motors_on	tells if motors are running

Set Rotorcraft commands.

RADIO_MODE switch just selectes between MANUAL and AUTO. If not MANUAL, the RADIO_AUTO_MODE switch selects between AUTO1 and AUTO2.

This is mainly a cludge for entry level radios with no three-way switch, but two available two-way switches which can be used. Set Rotorcraft commands. Limit thrust and/or yaw depending of the in_flight and motors_on flag status

Definition at line 107 of file glide_wing_lock.c.

References lock_wings, and WING_POS_NOMINAL_THRUST.

Variable Documentation

◆ adcbuf

struct adc_buf adcbuf

Definition at line 1 of file glide_wing_lock.c.

Referenced by glide_wing_lock_event(), glide_wing_lock_init(), and glide_wing_lock_periodic().

◆ lock_wings

int lock_wings

Definition at line 39 of file glide_wing_lock.c.

Referenced by glide_wing_lock_event(), and set_rotorcraft_commands().

Macros

Functions

Variables