nps_autopilot_rotorcraft.c File Reference

#include "nps_autopilot.h"
#include "main_ap.h"
#include "nps_sensors.h"
#include "nps_radio_control.h"
#include "nps_electrical.h"
#include "nps_fdm.h"
#include "modules/radio_control/radio_control.h"
#include "modules/imu/imu.h"
#include "mcu_periph/sys_time.h"
#include "state.h"
#include "modules/ahrs/ahrs.h"
#include "modules/ins/ins.h"
#include "math/pprz_algebra.h"
#include "modules/actuators/motor_mixing.h"
#include "modules/core/abi.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
#include "modules/datalink/datalink.h"
#include "modules/actuators/actuators.h"
#include <stdio.h>
#include "modules/gps/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

NPS_BYPASS_AHRS

#define NPS_BYPASS_AHRS   FALSE

Definition at line 64 of file nps_autopilot_rotorcraft.c.

NPS_BYPASS_INS

#define NPS_BYPASS_INS   FALSE

Definition at line 68 of file nps_autopilot_rotorcraft.c.

Function Documentation

nps_autopilot_init()

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

Definition at line 75 of file nps_autopilot_rotorcraft.c.

References 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.

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nps_autopilot_run_step()

void nps_autopilot_run_step

(

double

time

)

Definition at line 97 of file nps_autopilot_rotorcraft.c.

References AGL_SONAR_NPS_ID, AIRSPEED_NPS_ID, 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(), 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_baro_available(), nps_sensors_gps_available(), nps_sensors_gyro_available(), nps_sensors_mag_available(), nps_sensors_sonar_available(), nps_sensors_temperature_available(), radio_control_feed(), sensors, sim_overwrite_ahrs(), sim_overwrite_ins(), stateSetAirspeed_f(), and time.

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nps_autopilot_run_systime_step()

void nps_autopilot_run_systime_step

(

void

)

Definition at line 89 of file nps_autopilot_rotorcraft.c.

References sys_tick_handler().

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sim_overwrite_ahrs()

void sim_overwrite_ahrs

(

void

)

Definition at line 190 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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sim_overwrite_ins()

void sim_overwrite_ins

(

void

)

Definition at line 203 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 nps_autopilot_run_step().

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Variable Documentation

nps_autopilot

struct NpsAutopilot nps_autopilot

Definition at line 1 of file nps_autopilot_rotorcraft.c.

Referenced by nps_autopilot_init(), and nps_autopilot_run_step().

nps_bypass_ahrs

bool nps_bypass_ahrs

Definition at line 60 of file nps_autopilot_rotorcraft.c.

Referenced by nps_autopilot_init(), and nps_autopilot_run_step().

nps_bypass_ins

bool nps_bypass_ins

Definition at line 61 of file nps_autopilot_rotorcraft.c.

Referenced by nps_autopilot_init(), and nps_autopilot_run_step().