radio_control.h File Reference

Generic interface for radio control modules. More...

#include "generated/airframe.h"
#include "paparazzi.h"

Include dependency graph for radio_control.h:

Go to the source code of this file.

Data Structures
struct	RadioControl

Macros
#define	RC_AVG_PERIOD   8 /* TODO remove if IIR filter is used */
#define	RC_LOST_TIME   30 /* 500ms with a 60Hz timer */
#define	RC_REALLY_LOST_TIME   60 /* ~1s */
#define	RC_OK_CPT   15
#define	RC_OK   0
#define	RC_LOST   1
#define	RC_REALLY_LOST   2
#define	RADIO_CONTROL_NB_CHANNEL   32
#define	RadioControlValues(_chan)   radio_control.values[_chan]
#define	RadioControlIsLost()   (radio_control.status == RC_REALLY_LOST)

Functions
static void	radio_control_set (uint8_t idx, pprz_t value)
	Set a radio control channel value. More...
static pprz_t	radio_control_get (uint8_t idx)
	Get a radio control channel value. More...
void	radio_control_init (void)
void	radio_control_periodic_task (void)

Variables
struct RadioControl	radio_control

Detailed Description

Generic interface for radio control modules.

Definition in file radio_control.h.

---

Data Structure Documentation

RadioControl

struct RadioControl

Definition at line 60 of file radio_control.h.

Data Fields
uint8_t	frame_cpt
uint8_t	frame_rate
uint8_t	nb_channel
uint8_t	radio_ok_cpt
uint8_t	status
uint8_t	time_since_last_frame
pprz_t	values[RADIO_CONTROL_NB_CHANNEL]

Macro Definition Documentation

RADIO_CONTROL_NB_CHANNEL

#define RADIO_CONTROL_NB_CHANNEL   32

Definition at line 56 of file radio_control.h.

RadioControlIsLost

#define RadioControlIsLost

(

)

(radio_control.status == RC_REALLY_LOST)

Definition at line 76 of file radio_control.h.

RadioControlValues

#define RadioControlValues

(

_chan

)

radio_control.values[_chan]

Definition at line 73 of file radio_control.h.

RC_AVG_PERIOD

#define RC_AVG_PERIOD   8 /* TODO remove if IIR filter is used */

Definition at line 36 of file radio_control.h.

RC_LOST

#define RC_LOST   1

Definition at line 50 of file radio_control.h.

RC_LOST_TIME

#define RC_LOST_TIME   30 /* 500ms with a 60Hz timer */

Definition at line 39 of file radio_control.h.

RC_OK

#define RC_OK   0

Definition at line 49 of file radio_control.h.

RC_OK_CPT

#define RC_OK_CPT   15

Definition at line 46 of file radio_control.h.

RC_REALLY_LOST

#define RC_REALLY_LOST   2

Definition at line 51 of file radio_control.h.

RC_REALLY_LOST_TIME

#define RC_REALLY_LOST_TIME   60 /* ~1s */

Definition at line 42 of file radio_control.h.

Function Documentation

radio_control_get()

static pprz_t radio_control_get ( uint8_t  idx )

inlinestatic

Get a radio control channel value.

Parameters

idx	rc channel index

Returns

current value, 0 if index is invalid

Definition at line 94 of file radio_control.h.

References idx, RadioControl::nb_channel, radio_control, and RadioControl::values.

Referenced by autopilot_failsafe_checks(), autopilot_generated_on_rc_frame(), autopilot_static_on_rc_frame(), dc_shoot_rc_periodic(), oneloop_andi_RM(), periodic_auto1_commands(), periodic_gas_engine_idle_trim(), pprz_mode_update(), stabilization_direct_read_rc(), and vPoint().

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radio_control_init()

void radio_control_init

(

void

)

Definition at line 44 of file radio_control.c.

References DefaultPeriodic, RadioControl::frame_cpt, RadioControl::frame_rate, RadioControl::nb_channel, radio_control, RADIO_CONTROL_NB_CHANNEL, RadioControl::radio_ok_cpt, RC_REALLY_LOST, RC_REALLY_LOST_TIME, register_periodic_telemetry(), send_rc(), RadioControl::status, RadioControl::time_since_last_frame, and RadioControl::values.

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radio_control_periodic_task()

void radio_control_periodic_task

(

void

)

Definition at line 62 of file radio_control.c.

References RadioControl::frame_cpt, RadioControl::frame_rate, LED_OFF, LED_ON, radio_control, RadioControl::radio_ok_cpt, RC_LOST, RC_LOST_TIME, RC_OK, RC_OK_CPT, RC_REALLY_LOST, RC_REALLY_LOST_TIME, RadioControl::status, and RadioControl::time_since_last_frame.

radio_control_set()

static void radio_control_set ( uint8_t  idx, pprz_t  value  )

inlinestatic

Set a radio control channel value.

Parameters

idx	rc channel index
value	new value

Definition at line 82 of file radio_control.h.

References idx, RadioControl::nb_channel, radio_control, and RadioControl::values.

Variable Documentation

radio_control

struct RadioControl radio_control

extern

Definition at line 1 of file radio_control.c.

Referenced by ap_mode_of_3way_switch(), autopilot_failsafe_checks(), autopilot_generated_on_rc_frame(), autopilot_static_on_rc_frame(), autopilot_static_SetModeHandler(), eff_scheduling_cyfoam_periodic(), eff_scheduling_rotwing_update_hover_motor_effectiveness(), fbw_safety_check(), glide_wing_lock_event(), guidance_h_run(), guidance_module_enter(), guidance_module_run(), hott_event(), hott_init(), intermcu_send_status(), main_recovery_periodic(), oneloop_andi_run(), percent_from_rc(), ppm_event(), ppm_init(), px4_set_gimbal_angle_periodic(), radio_control_cc2500_event(), radio_control_cc2500_init(), radio_control_feed(), radio_control_get(), radio_control_init(), radio_control_periodic_task(), radio_control_set(), rc_cb(), rc_datalink_event(), rc_datalink_init(), rc_intermcu_init(), rc_intermcu_parse_fbw_status(), rc_intermcu_parse_msg(), rc_mode_switch(), sbus_dual_event(), sbus_dual_init(), sbus_event(), sbus_init(), schdule_control_effectiveness(), send_cc2500_ppm(), send_fbw_status(), send_hott(), send_mode(), send_ppm(), send_rc(), send_rotorcraft_rc(), send_sbus(), send_status(), send_tune_hover(), spektrum_event(), spektrum_init(), superbitrf_rc_event(), superbitrf_rc_init(), sys_id_chirp_activate_handler(), sys_id_chirp_run(), sys_id_doublet_activate_handler(), sys_id_doublet_run(), and throttle_curve_run().