nps_autopilot.h File Reference

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

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Data Structures
struct	NpsAutopilot

Macros
#define	NPS_COMMANDS_NB   ACTUATORS_NB
	Number of commands sent to the FDM of NPS. More...

Functions
void	sim_overwrite_ahrs (void)
void	sim_overwrite_ins (void)
void	nps_autopilot_init (enum NpsRadioControlType type, int num_script, char *js_dev)
void	nps_autopilot_run_step (double time)
void	nps_autopilot_run_systime_step (void)

Variables
struct NpsAutopilot	nps_autopilot
	#ifndef NPS_NO_MOTOR_MIXING #include "modules/actuators/motor_mixing.h" More...
bool	nps_bypass_ahrs
bool	nps_bypass_ins

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Data Structure Documentation

NpsAutopilot

struct NpsAutopilot

Definition at line 46 of file nps_autopilot.h.

Data Fields
double	commands[NPS_COMMANDS_NB]
bool	launch

Macro Definition Documentation

NPS_COMMANDS_NB

#define NPS_COMMANDS_NB   ACTUATORS_NB

Number of commands sent to the FDM of NPS.

If MOTOR_MIXING_NB_MOTOR is defined (usually rotorcraft firmware) we have that many commands (one per motor), otherwise we default to the number of high level commands (COMMANDS_NB).

Definition at line 42 of file nps_autopilot.h.

Function Documentation

nps_autopilot_init()

void nps_autopilot_init	(	enum NpsRadioControlType	type,
		int	num_script,
		char *	js_dev
	)

Definition at line 69 of file nps_autopilot_fixedwing.c.

References FALSE, NpsAutopilot::launch, main_ap_init(), nps_autopilot, nps_bypass_ahrs, NPS_BYPASS_AHRS, nps_bypass_ins, NPS_BYPASS_INS, nps_electrical_init(), nps_radio_control_init(), and TRUE.

Referenced by nps_radio_and_autopilot_init().

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nps_autopilot_run_step()

void nps_autopilot_run_step

(

double

time

)

Definition at line 95 of file nps_autopilot_fixedwing.c.

References AGL_SONAR_NPS_ID, AIRSPEED_NPS_ID, autopilot, autopilot_get_motors_on(), BARO_SIM_SENDER_ID, commands, MotorMixing::commands, NpsAutopilot::commands, DefaultChannel, DefaultDevice, foo, get_sys_time_usec(), gps_feed_value(), if(), imu_feed_gyro_accel(), imu_feed_mag(), INCIDENCE_NPS_ID, pprz_autopilot::kill_throttle, pprz_autopilot::launch, NpsAutopilot::launch, main_ap_event(), main_ap_periodic(), MAX_PPRZ, motor_mixing, nps_autopilot, nps_bypass_ahrs, nps_bypass_ins, NPS_COMMANDS_NB, nps_electrical_run_step(), nps_radio_control_available(), nps_sensors_airspeed_available(), nps_sensors_aoa_available(), nps_sensors_baro_available(), nps_sensors_gps_available(), nps_sensors_gyro_available(), nps_sensors_mag_available(), nps_sensors_sideslip_available(), nps_sensors_sonar_available(), nps_sensors_temperature_available(), PRINT_CONFIG_MSG(), radio_control_feed(), sensors, sim_overwrite_ahrs(), sim_overwrite_ins(), and stateSetAirspeed_f().

Referenced by nps_main_run_sim_step().

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nps_autopilot_run_systime_step()

void nps_autopilot_run_systime_step

(

void

)

Definition at line 87 of file nps_autopilot_fixedwing.c.

References sys_tick_handler().

Referenced by nps_main_run_sim_step().

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sim_overwrite_ahrs()

void sim_overwrite_ahrs

(

void

)

Definition at line 234 of file nps_autopilot_fixedwing.c.

References NpsFdm::body_ecef_rotvel, fdm, NpsFdm::ltp_to_body_quat, QUAT_COPY, RATES_COPY, stateSetBodyRates_f(), and stateSetNedToBodyQuat_f().

Referenced by nps_autopilot_run_step().

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sim_overwrite_ins()

void sim_overwrite_ins

(

void

)

Definition at line 247 of file nps_autopilot_fixedwing.c.

References fdm, LLA_COPY, NpsFdm::lla_pos, LlaCoor_f::lon, NpsFdm::ltpprz_ecef_accel, NpsFdm::ltpprz_ecef_vel, NpsFdm::ltpprz_pos, State::ned_initialized_f, State::ned_initialized_i, state, stateCalcPositionEnu_i(), stateSetAccelNed_f(), stateSetPositionNed_f(), stateSetPositionUtm_f(), stateSetSpeedNed_f(), State::utm_initialized_f, utm_of_lla_f(), VECT3_COPY, and UtmCoor_f::zone.

Referenced by ins_ekf2_update(), ins_ned_to_state(), and nps_autopilot_run_step().

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Variable Documentation

nps_autopilot

struct NpsAutopilot nps_autopilot

extern

#ifndef NPS_NO_MOTOR_MIXING #include "modules/actuators/motor_mixing.h"

if NPS_COMMANDS_NB != MOTOR_MIXING_NB_MOTOR #warning "NPS_COMMANDS_NB does not match MOTOR_MIXING_NB_MOTOR!" #endif #endif

Definition at line 1 of file nps_autopilot_fixedwing.c.

Referenced by nps_ap_data_loop(), nps_autopilot_init(), nps_autopilot_run_step(), nps_main_run_sim_step(), and nps_update_launch_from_dl().

nps_bypass_ahrs

bool nps_bypass_ahrs

extern

Definition at line 53 of file nps_autopilot_fixedwing.c.

Referenced by nps_autopilot_init(), and nps_autopilot_run_step().

nps_bypass_ins

bool nps_bypass_ins

extern

Definition at line 54 of file nps_autopilot_fixedwing.c.

Referenced by ins_ekf2_update(), ins_ned_to_state(), nps_autopilot_init(), and nps_autopilot_run_step().