nps_autopilot_rover.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/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
	#ifndef NPS_NO_MOTOR_MIXING #include "modules/actuators/motor_mixing.h" More...
bool	nps_bypass_ahrs
bool	nps_bypass_ins

Macro Definition Documentation

NPS_BYPASS_AHRS

#define NPS_BYPASS_AHRS   FALSE

Definition at line 61 of file nps_autopilot_rover.c.

NPS_BYPASS_INS

#define NPS_BYPASS_INS   FALSE

Definition at line 65 of file nps_autopilot_rover.c.

Function Documentation

nps_autopilot_init()

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

Definition at line 72 of file nps_autopilot_rover.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_rover.c.

References AGL_SONAR_NPS_ID, AIRSPEED_NPS_ID, autopilot, autopilot_get_motors_on(), BARO_SIM_SENDER_ID, 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, 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(), PRINT_CONFIG_VAR(), radio_control_feed(), sensors, sim_overwrite_ahrs(), sim_overwrite_ins(), stateSetAirspeed_f(), and time.

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_rover.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 181 of file nps_autopilot_rover.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 194 of file nps_autopilot_rover.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

#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_rover.c.

Referenced by nps_autopilot_init(), and nps_autopilot_run_step().

nps_bypass_ahrs

bool nps_bypass_ahrs

Definition at line 57 of file nps_autopilot_rover.c.

Referenced by nps_autopilot_init(), and nps_autopilot_run_step().

nps_bypass_ins

bool nps_bypass_ins

Definition at line 58 of file nps_autopilot_rover.c.

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