nps_autopilot.h

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/*
 * Copyright (C) Paparazzi team
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#ifndef NPS_AUTOPILOT_H
#define NPS_AUTOPILOT_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "generated/airframe.h"
 
#include "nps_radio_control.h"
 
#ifndef NPS_COMMANDS_NB
#if defined MOTOR_MIXING_NB_MOTOR
#define NPS_COMMANDS_NB MOTOR_MIXING_NB_MOTOR
#elif defined NPS_USE_COMMANDS
#define NPS_COMMANDS_NB COMMANDS_NB
#else
#define NPS_COMMANDS_NB ACTUATORS_NB  // uses actuators_pprz[ACTUATORS_NB]
#endif /* #if defined MOTOR_MIXING_NB_MOTOR or NPS_USE_COMMANDS */
#endif /* #ifndef NPS_COMMANDS_NB */
 
struct NpsAutopilot {
  double commands[NPS_COMMANDS_NB];
  bool launch;
};
 
extern struct NpsAutopilot nps_autopilot;
 
extern bool nps_bypass_ahrs;
extern bool nps_bypass_ins;
extern void sim_overwrite_ahrs(void);
extern void sim_overwrite_ins(void);
 
extern void nps_autopilot_init(enum NpsRadioControlType type, int num_script, char *js_dev);
extern void nps_autopilot_run_step(double time);
extern void nps_autopilot_run_systime_step(void);
 
#ifdef __cplusplus
}
#endif
 
#endif /* NPS_AUTOPILOT_H */