Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Radio control input via datalink. More...
#include "modules/radio_control/rc_datalink.h"
#include "modules/radio_control/radio_control.h"
#include "modules/core/abi.h"
#include "pprzlink/dl_protocol.h"
Go to the source code of this file.
Functions | |
void | rc_datalink_init (void) |
RC init function. More... | |
void | rc_datalink_parse_RC_3CH (uint8_t *buf) |
void | rc_datalink_parse_RC_4CH (uint8_t *buf) |
void | parse_rc_3ch_datalink (uint8_t throttle_mode, int8_t roll, int8_t pitch) |
Decode datalink message to get rc values with RC_3CH message Mode and throttle are merge in the same byte. More... | |
void | parse_rc_4ch_datalink (uint8_t mode, uint8_t throttle, int8_t roll, int8_t pitch, int8_t yaw) |
Decode datalink message to get rc values with RC_4CH message. More... | |
static void | rc_datalink_normalize (int8_t *in, int16_t *out) |
Normalize rc_dl_values to radio values. More... | |
void | rc_datalink_event (void) |
RC event function. More... | |
Variables | |
int8_t | rc_dl_values [RC_DL_NB_CHANNEL] |
volatile bool | rc_dl_frame_available |
Radio control input via datalink.
Definition in file rc_datalink.c.
Decode datalink message to get rc values with RC_3CH message Mode and throttle are merge in the same byte.
Definition at line 65 of file rc_datalink.c.
References mode, RADIO_MODE, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, rc_dl_frame_available, and rc_dl_values.
Referenced by rc_datalink_parse_RC_3CH().
void parse_rc_4ch_datalink | ( | uint8_t | mode, |
uint8_t | throttle, | ||
int8_t | roll, | ||
int8_t | pitch, | ||
int8_t | yaw | ||
) |
Decode datalink message to get rc values with RC_4CH message.
Definition at line 81 of file rc_datalink.c.
References mode, RADIO_MODE, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, rc_dl_frame_available, and rc_dl_values.
Referenced by mavlink_common_message_handler(), and rc_datalink_parse_RC_4CH().
void rc_datalink_event | ( | void | ) |
RC event function.
Definition at line 114 of file rc_datalink.c.
References RadioControl::frame_cpt, radio_control, RADIO_CONTROL_DATALINK_ID, RadioControl::radio_ok_cpt, rc_datalink_normalize(), rc_dl_frame_available, rc_dl_values, RC_OK, RadioControl::status, RadioControl::time_since_last_frame, and RadioControl::values.
void rc_datalink_init | ( | void | ) |
RC init function.
Definition at line 36 of file rc_datalink.c.
References RadioControl::nb_channel, radio_control, rc_dl_frame_available, and RC_DL_NB_CHANNEL.
Normalize rc_dl_values to radio values.
Definition at line 100 of file rc_datalink.c.
References MAX_PPRZ, MIN_PPRZ, RADIO_MODE, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, and RADIO_YAW.
Referenced by rc_datalink_event().
void rc_datalink_parse_RC_3CH | ( | uint8_t * | buf | ) |
Definition at line 42 of file rc_datalink.c.
References LED_TOGGLE, and parse_rc_3ch_datalink().
void rc_datalink_parse_RC_4CH | ( | uint8_t * | buf | ) |
Definition at line 53 of file rc_datalink.c.
References LED_TOGGLE, and parse_rc_4ch_datalink().
volatile bool rc_dl_frame_available |
Definition at line 33 of file rc_datalink.c.
Referenced by parse_rc_3ch_datalink(), parse_rc_4ch_datalink(), rc_datalink_event(), and rc_datalink_init().
int8_t rc_dl_values[RC_DL_NB_CHANNEL] |
Definition at line 32 of file rc_datalink.c.
Referenced by parse_rc_3ch_datalink(), parse_rc_4ch_datalink(), and rc_datalink_event().