nps_ivy.c File Reference

#include "nps_ivy.h"
#include <stdlib.h>
#include <stdio.h>
#include <sys/types.h>
#include <unistd.h>
#include <Ivy/ivy.h>
#include <Ivy/ivyloop.h>
#include "generated/airframe.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_algebra_double.h"
#include "nps_main.h"
#include "nps_autopilot.h"
#include "nps_fdm.h"
#include "nps_sensors.h"
#include "nps_atmosphere.h"
#include "generated/settings.h"
#include "pprzlink/dl_protocol.h"
#include "modules/datalink/downlink.h"
#include "modules/gps/gps.h"

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Data Structures
struct	nps_ivy_metadata_t

Functions
static void	on_WORLD_ENV (IvyClientPtr app, void *user_data, int argc, char *argv[])
static void	on_DL_SETTING (IvyClientPtr app, void *user_data, int argc, char *argv[])
int	find_launch_index (void)
void	nps_ivy_beforeloop (struct nps_ivy_metadata_t *args)
void	nps_ivy_init (char *ivy_bus, bool nodisplay)
void	nps_ivy_send_WORLD_ENV_REQ (void)
void	nps_ivy_display (struct NpsFdm *fdm_data, struct NpsSensors *sensors_data)
void	nps_ivy_run (void)

Variables
bool	nps_ivy_send_world_env = false
static MsgRcvPtr	ivyPtr = NULL
static int	seq = 1
static int	ap_launch_index
static struct nps_ivy_metadata_t	nps_ivy_metadata

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Data Structure Documentation

nps_ivy_metadata_t

struct nps_ivy_metadata_t

Definition at line 43 of file nps_ivy.c.

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Data Fields
long int	period_ns
struct timespec	requestStart

Function Documentation

find_launch_index()

int find_launch_index

(

void

)

Definition at line 172 of file nps_ivy.c.

References foo, and idx.

Referenced by nps_ivy_init().

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nps_ivy_beforeloop()

void nps_ivy_beforeloop

(

struct nps_ivy_metadata_t *

args

)

Definition at line 51 of file nps_ivy.c.

References clock_get_current_time, fdm, foo, nps_ivy_display(), and sensors.

Referenced by nps_ivy_init().

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nps_ivy_display()

void nps_ivy_display	(	struct NpsFdm *	fdm_data,
		struct NpsSensors *	sensors_data
	)

Definition at line 232 of file nps_ivy.c.

References double_quat_vmult(), fdm, fdm_mutex, foo, nps_ivy_send_world_env, nps_ivy_send_WORLD_ENV_REQ(), RATE_FLOAT_OF_BFP, and sensors.

Referenced by nps_ivy_beforeloop().

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nps_ivy_init()

void nps_ivy_init	(	char *	ivy_bus,
		bool	nodisplay
	)

Definition at line 72 of file nps_ivy.c.

References ap_launch_index, DISPLAY_DT, find_launch_index(), foo, nps_ivy_beforeloop(), nps_ivy_metadata, nps_ivy_send_world_env, on_DL_SETTING(), on_WORLD_ENV(), and nps_ivy_metadata_t::period_ns.

Referenced by nps_main_display().

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nps_ivy_run()

void nps_ivy_run

(

void

)

Definition at line 303 of file nps_ivy.c.

References foo.

Referenced by nps_main_display().

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nps_ivy_send_WORLD_ENV_REQ()

void nps_ivy_send_WORLD_ENV_REQ

(

void

)

Definition at line 142 of file nps_ivy.c.

References fdm, foo, ivyPtr, nps_ivy_send_world_env, on_WORLD_ENV(), and seq.

Referenced by nps_ivy_display().

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on_DL_SETTING()

static void on_DL_SETTING ( IvyClientPtr  app, void *  user_data, int  argc, char *  argv[]  )

static

Definition at line 193 of file nps_ivy.c.

References ap_launch_index, DefaultChannel, DefaultDevice, foo, and nps_update_launch_from_dl().

Referenced by nps_ivy_init().

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on_WORLD_ENV()

static void on_WORLD_ENV ( IvyClientPtr  app, void *  user_data, int  argc, char *  argv[]  )

static

Definition at line 109 of file nps_ivy.c.

References foo, gps_has_fix, nps_atmosphere_set_wind_ned(), nps_set_time_factor(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by nps_ivy_init(), and nps_ivy_send_WORLD_ENV_REQ().

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Variable Documentation

ap_launch_index

int ap_launch_index

static

Definition at line 31 of file nps_ivy.c.

Referenced by nps_ivy_init(), and on_DL_SETTING().

ivyPtr

MsgRcvPtr ivyPtr = NULL

static

Definition at line 29 of file nps_ivy.c.

Referenced by nps_ivy_send_WORLD_ENV_REQ().

nps_ivy_metadata

struct nps_ivy_metadata_t nps_ivy_metadata

static

Referenced by nps_ivy_init().

nps_ivy_send_world_env

bool nps_ivy_send_world_env = false

Definition at line 28 of file nps_ivy.c.

Referenced by nps_atmosphere_update(), nps_ivy_display(), nps_ivy_init(), and nps_ivy_send_WORLD_ENV_REQ().

seq

int seq = 1

static

Definition at line 30 of file nps_ivy.c.

Referenced by escape_process(), mavlink_send_block(), mavlink_send_wp(), and nps_ivy_send_WORLD_ENV_REQ().