main_ap.c File Reference

Autopilot main loop. More...

#include "main_ap.h"
#include "generated/airframe.h"
#include "generated/modules.h"
#include "modules/core/abi.h"

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Macros
#define	MODULES_C
#define	ABI_C
#define	SYS_PERIOD   (1.f / PERIODIC_FREQUENCY)
#define	SENSORS_PERIOD   (1.f / PERIODIC_FREQUENCY)
#define	DATALINK_PERIOD   (1.f / TELEMETRY_FREQUENCY)

Functions
void	main_ap_init (void)
void	main_ap_periodic (void)
void	main_ap_event (void)

Variables
tid_t	modules_mcu_core_tid
	IDs for timers. More...
tid_t	modules_sensors_tid
tid_t	modules_radio_control_tid
tid_t	modules_gnc_tid
tid_t	modules_datalink_tid

Detailed Description

Autopilot main loop.

This process is reponsible for the collecting the different sensors data, calling the appropriate estimation algorithms and running the different control loops.

Definition in file main_ap.c.

Macro Definition Documentation

ABI_C

#define ABI_C

Definition at line 33 of file main_ap.c.

DATALINK_PERIOD

#define DATALINK_PERIOD   (1.f / TELEMETRY_FREQUENCY)

Definition at line 77 of file main_ap.c.

MODULES_C

#define MODULES_C

Definition at line 31 of file main_ap.c.

SENSORS_PERIOD

#define SENSORS_PERIOD   (1.f / PERIODIC_FREQUENCY)

Definition at line 76 of file main_ap.c.

SYS_PERIOD

#define SYS_PERIOD   (1.f / PERIODIC_FREQUENCY)

Definition at line 75 of file main_ap.c.

Function Documentation

main_ap_event()

void main_ap_event

(

void

)

Definition at line 146 of file main_ap.c.

Referenced by nps_autopilot_run_step().

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main_ap_init()

void main_ap_init

(

void

)

Definition at line 79 of file main_ap.c.

References autopilot_failsafe_checks(), DATALINK_PERIOD, modules_datalink_tid, modules_gnc_tid, modules_mcu_core_tid, modules_radio_control_tid, modules_sensors_tid, SENSORS_PERIOD, SYS_PERIOD, sys_time_register_timer(), and sys_time_register_timer_offset().

Referenced by nps_autopilot_init().

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main_ap_periodic()

void main_ap_periodic

(

void

)

Definition at line 119 of file main_ap.c.

References modules_datalink_tid, modules_gnc_tid, modules_mcu_core_tid, modules_radio_control_tid, modules_sensors_tid, and sys_time_check_and_ack_timer().

Referenced by nps_autopilot_run_step().

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Variable Documentation

modules_datalink_tid

tid_t modules_datalink_tid

Definition at line 73 of file main_ap.c.

Referenced by main_ap_init(), and main_ap_periodic().

modules_gnc_tid

tid_t modules_gnc_tid

Definition at line 72 of file main_ap.c.

Referenced by main_ap_init(), and main_ap_periodic().

modules_mcu_core_tid

tid_t modules_mcu_core_tid

IDs for timers.

Definition at line 69 of file main_ap.c.

Referenced by main_ap_init(), and main_ap_periodic().

modules_radio_control_tid

tid_t modules_radio_control_tid

Definition at line 71 of file main_ap.c.

Referenced by main_ap_init(), and main_ap_periodic().

modules_sensors_tid

tid_t modules_sensors_tid

Definition at line 70 of file main_ap.c.

Referenced by main_ap_init(), and main_ap_periodic().