main_recovery.c File Reference

Recovery mode: run manual mode in case of hardfault Based on legacy FBW. More...

#include "firmwares/fixedwing/main_recovery.h"
#include "generated/airframe.h"
#include "generated/modules.h"
#include "modules/core/abi.h"
#include "modules/radio_control/radio_control.h"
#include "modules/core/commands.h"
#include "modules/energy/electrical.h"
#include "autopilot_utils.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	RECOVERY_RC_ID   ABI_BROADCAST
#define	RECOVERY_MODE_OF_PPRZ(mode)   ((mode) < THRESHOLD_MANUAL_PPRZ ? RECOVERY_MODE_MANUAL : RECOVERY_MODE_FAILSAFE)

Functions
static void	rc_cb (uint8_t sender_id, struct RadioControl *rc)
static void	send_fbw_status (struct transport_tx *trans, struct link_device *dev)
void	main_recovery_init (void)
void	main_recovery_event (void)
void	main_recovery_periodic (void)

Variables
uint8_t	recovery_mode
tid_t	periodic_tid
	id for periodic task timer More...
tid_t	electrical_tid
	id for electrical_periodic() timer More...
tid_t	telemetry_tid
	id for periodic telemetry More...
static abi_event	rc_ev

Detailed Description

Recovery mode: run manual mode in case of hardfault Based on legacy FBW.

Definition in file main_recovery.c.

Macro Definition Documentation

RECOVERY_MODE_OF_PPRZ

#define RECOVERY_MODE_OF_PPRZ

(

mode

)

((mode) < THRESHOLD_MANUAL_PPRZ ? RECOVERY_MODE_MANUAL : RECOVERY_MODE_FAILSAFE)

Definition at line 56 of file main_recovery.c.

RECOVERY_RC_ID

#define RECOVERY_RC_ID   ABI_BROADCAST

Definition at line 51 of file main_recovery.c.

Function Documentation

main_recovery_event()

void main_recovery_event

(

void

)

Definition at line 126 of file main_recovery.c.

main_recovery_init()

void main_recovery_init

(

void

)

Definition at line 89 of file main_recovery.c.

References AP_MODE_MANUAL, autopilot, commands_init(), DefaultPeriodic, electrical_init(), electrical_tid, pprz_autopilot::mode, periodic_tid, rc_cb(), rc_ev, recovery_mode, RECOVERY_MODE_FAILSAFE, RECOVERY_RC_ID, register_periodic_telemetry(), send_fbw_status(), sys_time_register_timer(), and telemetry_tid.

Referenced by main().

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main_recovery_periodic()

void main_recovery_periodic

(

void

)

Definition at line 136 of file main_recovery.c.

References commands_failsafe, DefaultChannel, DefaultDevice, DefaultPeriodic, electrical_periodic(), electrical_tid, periodic_tid, radio_control, RC_REALLY_LOST, recovery_mode, RECOVERY_MODE_FAILSAFE, RadioControl::status, sys_time_check_and_ack_timer(), and telemetry_tid.

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rc_cb()

static void rc_cb ( uint8_t sender_id  , struct RadioControl *  rc  )

static

Definition at line 58 of file main_recovery.c.

References commands, RADIO_MODE, RC_OK, recovery_mode, RECOVERY_MODE_MANUAL, RECOVERY_MODE_OF_PPRZ, RadioControl::status, and RadioControl::values.

Referenced by main_recovery_init().

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send_fbw_status()

static void send_fbw_status ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 72 of file main_recovery.c.

References Electrical::current, dev, electrical, RadioControl::frame_rate, radio_control, recovery_mode, RadioControl::status, and Electrical::vsupply.

Referenced by main_recovery_init().

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Variable Documentation

electrical_tid

tid_t electrical_tid

id for electrical_periodic() timer

Definition at line 45 of file main_recovery.c.

Referenced by main_recovery_init(), and main_recovery_periodic().

periodic_tid

tid_t periodic_tid

id for periodic task timer

Definition at line 44 of file main_recovery.c.

Referenced by main_recovery_init(), and main_recovery_periodic().

rc_ev

abi_event rc_ev

static

Definition at line 54 of file main_recovery.c.

Referenced by main_recovery_init().

recovery_mode

uint8_t recovery_mode

Definition at line 42 of file main_recovery.c.

Referenced by main_recovery_init(), main_recovery_periodic(), rc_cb(), and send_fbw_status().

telemetry_tid

tid_t telemetry_tid

id for periodic telemetry

Definition at line 47 of file main_recovery.c.

Referenced by main_recovery_init(), and main_recovery_periodic().