copilot module

Mission Computer module, interfacing the mission computer (also known as Copilot),

based losely on ISaAC: The Intelligent Safety and Airworthiness Co-Pilot module Based on paper "A Payload Verification and Management Framework for Small UAV-based Personal Remote Sensing Systems" by Cal Coopmans and Chris Coffin. Link: http://ieeexplore.ieee.org/abstract/document/6309316/

More info can be found on http://wiki.paparazziuav.org/wiki/Mission_computer

Copilot is intended mainly for mapping applications.

This module processes messages from Copilot, and either forwards them to the GCS (such as CAMERA_SNAPSHOT or CAMERA_PAYLOAD messages), or responds to them as necessary (such as MOVE_WP).

The module assumes the source of the messages is trusted (i.e. not authentication besides AC_ID check is performed).

Example for airframe file

Add to your firmware section:

<module name="copilot"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• copilot_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• copilot_periodic()
  • Frequency in Hz: 1.
  • Autorun: TRUE
    Periodic function automatically starts after init.

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

• on message CAMERA_SNAPSHOT_DL call copilot_parse_cam_snapshot_dl(buf)
• on message CAMERA_PAYLOAD_DL call copilot_parse_cam_payload_dl(buf)
• on message COPILOT_STATUS_DL call copilot_parse_copilot_status_dl(buf)
• on message MOVE_WP call copilot_parse_move_wp_dl(buf)
• on message PAYLOAD_COMMAND call copilot_parse_payload_command_dl(buf)

Files

Header Files

The following headers are automatically included in modules.h

• copilot.h

Source Files

• modules/mission/copilot_common.c
• modules/mission/copilot_fixedwing.c
• modules/mission/copilot_rotorcraft.c

Raw copilot.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="copilot" dir="mission">
  <doc>
    <description>
    Mission Computer module, interfacing the mission computer (also known as Copilot),
    based losely on
    ISaAC: The Intelligent Safety and Airworthiness Co-Pilot module
    Based on paper p­¡$×
    for Small UAV-based Personal Remote Sensing Systems" by Cal Coopmans
    and Chris Coffin. Link: http://ieeexplore.ieee.org/abstract/document/6309316/
 
    More info can be found on http://wiki.paparazziuav.org/wiki/Mission_computer
 
    Copilot is intended mainly for mapping applications.
 
    This module processes messages from Copilot, and either forwards them to the GCS
    (such as CAMERA_SNAPSHOT or CAMERA_PAYLOAD messages), or responds to them as necessary
    (such as MOVE_WP).
 
    The module assumes the source of the messages is trusted (i.e. not authentication besides 
    AC_ID check is performed).
    </description>
  </doc>
 
 
  <dep>
    <depends>extra_dl</depends>
  </dep>
  <header>
    <file name="copilot.h"/>
  </header>
  <init fun="copilot_init()"/>
  <periodic fun="copilot_periodic()" freq="1." autorun="TRUE"/>
  <datalink message="CAMERA_SNAPSHOT_DL" fun="copilot_parse_cam_snapshot_dl(buf)"/>
  <datalink message="CAMERA_PAYLOAD_DL" fun="copilot_parse_cam_payload_dl(buf)"/>
  <datalink message="COPILOT_STATUS_DL" fun="copilot_parse_copilot_status_dl(buf)"/>
  <datalink message="MOVE_WP" fun="copilot_parse_move_wp_dl(buf)"/>
  <datalink message="PAYLOAD_COMMAND" fun="copilot_parse_payload_command_dl(buf)"/>
  <makefile target="ap">
    <file name="copilot_common.c"/>
  </makefile>
  <makefile target="ap" firmware="fixedwing">
    <file name="copilot_fixedwing.c"/>
  </makefile>
  <makefile target="ap" firmware="rotorcraft">
    <file name="copilot_rotorcraft.c"/>
  </makefile>
</module>