Paparazzi UAS  v5.15_devel-112-g521f3cf
Paparazzi is a free software Unmanned Aircraft System.
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nps_autopilot_rotorcraft.c File Reference
#include "nps_autopilot.h"
#include "firmwares/rotorcraft/main.h"
#include "nps_sensors.h"
#include "nps_radio_control.h"
#include "nps_electrical.h"
#include "nps_fdm.h"
#include "subsystems/radio_control.h"
#include "subsystems/imu.h"
#include "mcu_periph/sys_time.h"
#include "state.h"
#include "subsystems/ahrs.h"
#include "subsystems/ins.h"
#include "math/pprz_algebra.h"
#include "subsystems/actuators/motor_mixing.h"
#include "subsystems/abi.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/datalink/datalink.h"
#include "subsystems/actuators.h"
#include <stdio.h>
#include "subsystems/gps.h"
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Macros

#define NPS_BYPASS_AHRS   FALSE
 
#define NPS_BYPASS_INS   FALSE
 

Functions

void nps_autopilot_init (enum NpsRadioControlType type_rc, int num_rc_script, char *rc_dev)
 
void nps_autopilot_run_systime_step (void)
 
void nps_autopilot_run_step (double time)
 
void sim_overwrite_ahrs (void)
 
void sim_overwrite_ins (void)
 

Variables

struct NpsAutopilot nps_autopilot
 
bool nps_bypass_ahrs
 
bool nps_bypass_ins
 

Macro Definition Documentation

#define NPS_BYPASS_AHRS   FALSE

Definition at line 60 of file nps_autopilot_rotorcraft.c.

Referenced by nps_autopilot_init().

#define NPS_BYPASS_INS   FALSE

Definition at line 64 of file nps_autopilot_rotorcraft.c.

Referenced by nps_autopilot_init().

Function Documentation

void nps_autopilot_init ( enum NpsRadioControlType  type_rc,
int  num_rc_script,
char *  rc_dev 
)

Definition at line 71 of file nps_autopilot_rotorcraft.c.

References NpsAutopilot::launch, main_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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void nps_autopilot_run_systime_step ( void  )

Definition at line 85 of file nps_autopilot_rotorcraft.c.

References sys_tick_handler().

Referenced by nps_main_run_sim_step().

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void sim_overwrite_ahrs ( void  )

Definition at line 178 of file nps_autopilot_rotorcraft.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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void sim_overwrite_ins ( void  )

Definition at line 191 of file nps_autopilot_rotorcraft.c.

References fdm, NpsFdm::ltpprz_ecef_accel, NpsFdm::ltpprz_ecef_vel, NpsFdm::ltpprz_pos, stateSetAccelNed_f(), stateSetPositionNed_f(), stateSetSpeedNed_f(), and VECT3_COPY.

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

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Variable Documentation

bool nps_bypass_ahrs

Definition at line 56 of file nps_autopilot_rotorcraft.c.

Referenced by nps_autopilot_init(), and nps_autopilot_run_step().

bool nps_bypass_ins