#include "firmwares/rotorcraft/autopilot_firmware.h"
#include "generated/modules.h"
#include <stdint.h>
#include "modules/energy/electrical.h"
#include "modules/datalink/telemetry.h"
#include "modules/radio_control/radio_control.h"
#include "modules/gps/gps.h"
#include "modules/nav/nav_geofence.h"

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Macros
#define	AUTOPILOT_IN_FLIGHT_TIME 20
	time steps for in_flight detection (at 20Hz, so 20=1second) More...

#define	AUTOPILOT_IN_FLIGHT_MIN_SPEED 0.2
	minimum vertical speed for in_flight condition in m/s More...

#define	AUTOPILOT_IN_FLIGHT_MIN_ACCEL 2.0
	minimum vertical acceleration for in_flight condition in m/s^2 More...

#define	AUTOPILOT_IN_FLIGHT_MIN_THRUST 500
	minimum thrust for in_flight condition in pprz_t units (max = 9600) More...

#define	THRESHOLD_GROUND_DETECT 25.0
	Z-acceleration threshold to detect ground in m/s^2. More...

Functions
bool WEAK	autopilot_ground_detection (void)
	Default ground-detection estimation based on accelerometer shock. More...

bool WEAK	autopilot_in_flight_end_detection (bool motors_on UNUSED)
	Default end-of-in-flight detection estimation based on thrust and speed. More...

static void	send_status (struct transport_tx trans, struct link_device dev)

static void	send_energy (struct transport_tx trans, struct link_device dev)

static void	send_fp (struct transport_tx trans, struct link_device dev)

static void	send_body_rates_accel (struct transport_tx trans, struct link_device dev)

static void	send_fp_min (struct transport_tx trans, struct link_device dev)

static void	send_rotorcraft_rc (struct transport_tx trans, struct link_device dev)

static void	send_rotorcraft_cmd (struct transport_tx trans UNUSED, struct link_device dev UNUSED)

void	autopilot_firmware_init (void)
	Init function. More...

void	autopilot_send_mode (void)
	Report autopilot mode on default downlink channel. More...

void	autopilot_event (void)
	autopilot event function More...

void	autopilot_reset_in_flight_counter (void)
	reset in_flight counter More...

void	autopilot_check_in_flight (bool motors_on)
	in flight check utility function More...

Variables
uint8_t	autopilot_mode_auto2

static uint32_t	autopilot_in_flight_counter

Macro Definition Documentation

◆ AUTOPILOT_IN_FLIGHT_MIN_ACCEL

#define AUTOPILOT_IN_FLIGHT_MIN_ACCEL 2.0

minimum vertical acceleration for in_flight condition in m/s^2

Definition at line 67 of file autopilot_firmware.c.

◆ AUTOPILOT_IN_FLIGHT_MIN_SPEED

#define AUTOPILOT_IN_FLIGHT_MIN_SPEED 0.2

minimum vertical speed for in_flight condition in m/s

Definition at line 62 of file autopilot_firmware.c.

◆ AUTOPILOT_IN_FLIGHT_MIN_THRUST

#define AUTOPILOT_IN_FLIGHT_MIN_THRUST 500

minimum thrust for in_flight condition in pprz_t units (max = 9600)

Definition at line 72 of file autopilot_firmware.c.

◆ AUTOPILOT_IN_FLIGHT_TIME

#define AUTOPILOT_IN_FLIGHT_TIME 20

time steps for in_flight detection (at 20Hz, so 20=1second)

Definition at line 57 of file autopilot_firmware.c.

◆ THRESHOLD_GROUND_DETECT

#define THRESHOLD_GROUND_DETECT 25.0

Z-acceleration threshold to detect ground in m/s^2.

Definition at line 77 of file autopilot_firmware.c.

Function Documentation

◆ autopilot_check_in_flight()

void autopilot_check_in_flight ( bool motors_on )

in flight check utility function

Check if airframe is in flight.

Definition at line 295 of file autopilot_firmware.c.

References autopilot, autopilot_in_flight_counter, autopilot_in_flight_end_detection(), AUTOPILOT_IN_FLIGHT_MIN_THRUST, AUTOPILOT_IN_FLIGHT_TIME, Stabilization::cmd, pprz_autopilot::in_flight, and stabilization.

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◆ autopilot_event()

void autopilot_event ( void )

autopilot event function

Autopilot event check function.

used for automatic ground detection

Definition at line 272 of file autopilot_firmware.c.

References AP_MODE_FAILSAFE, autopilot, autopilot_ground_detection(), pprz_autopilot::detect_ground_once, pprz_autopilot::ground_detected, and pprz_autopilot::mode.

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◆ autopilot_firmware_init()

void autopilot_firmware_init ( void )

Init function.

Definition at line 242 of file autopilot_firmware.c.

References autopilot_in_flight_counter, autopilot_mode_auto2, DefaultPeriodic, MODE_AUTO2, register_periodic_telemetry(), send_body_rates_accel(), send_energy(), send_fp(), send_fp_min(), send_rotorcraft_cmd(), send_rotorcraft_rc(), and send_status().

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◆ autopilot_ground_detection()

bool WEAK autopilot_ground_detection ( void )

Default ground-detection estimation based on accelerometer shock.

Definition at line 81 of file autopilot_firmware.c.

References stateGetAccelNed_f(), THRESHOLD_GROUND_DETECT, and NedCoor_f::z.

Referenced by autopilot_event().

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◆ autopilot_in_flight_end_detection()

bool WEAK autopilot_in_flight_end_detection ( bool motors_on UNUSED )

Default end-of-in-flight detection estimation based on thrust and speed.

Definition at line 92 of file autopilot_firmware.c.

References autopilot_in_flight_counter, AUTOPILOT_IN_FLIGHT_MIN_ACCEL, AUTOPILOT_IN_FLIGHT_MIN_SPEED, AUTOPILOT_IN_FLIGHT_MIN_THRUST, AUTOPILOT_IN_FLIGHT_TIME, Stabilization::cmd, stabilization, stateGetAccelNed_f(), stateGetSpeedNed_f(), and NedCoor_f::z.

Referenced by autopilot_check_in_flight().

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◆ autopilot_reset_in_flight_counter()

void autopilot_reset_in_flight_counter ( void )

reset in_flight counter

reset in_flight counter actual implementation is firmware dependent

Definition at line 288 of file autopilot_firmware.c.

References autopilot_in_flight_counter.

◆ autopilot_send_mode()

void autopilot_send_mode ( void )

Report autopilot mode on default downlink channel.

Definition at line 261 of file autopilot_firmware.c.

References DefaultChannel, DefaultDevice, and send_status().

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◆ send_body_rates_accel()

static void send_body_rates_accel	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 183 of file autopilot_firmware.c.

References dev, p, stateGetAccelBody_i(), and stateGetBodyRates_f().

Referenced by autopilot_firmware_init().

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◆ send_energy()

static void send_energy	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 138 of file autopilot_firmware.c.

References autopilot, Electrical::avg_cnt, Electrical::avg_power, Electrical::charge, Electrical::current, dev, electrical, Electrical::energy, MAX_PPRZ, pprz_autopilot::throttle, and Electrical::vsupply.

Referenced by autopilot_firmware_init().

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◆ send_fp()

static void send_fp	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 151 of file autopilot_firmware.c.

References ANGLE_BFP_OF_REAL, autopilot, dev, EULERS_BFP_OF_REAL, eulers_zxy, pprz_autopilot::flight_time, float_eulers_of_quat_zxy(), guidance_h, guidance_v, HorizontalGuidanceSetpoint::heading, Int32Eulers::phi, HorizontalGuidanceSetpoint::pos, Int32Eulers::psi, HorizontalGuidance::sp, stateGetNedToBodyEulers_i(), stateGetNedToBodyQuat_f(), stateGetPositionEnu_i(), stateGetSpeedEnu_i(), Int32Eulers::theta, pprz_autopilot::throttle, Int32Vect2::x, Int32Vect2::y, and VerticalGuidance::z_sp.

Referenced by autopilot_firmware_init().

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◆ send_fp_min()

static void send_fp_min	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 194 of file autopilot_firmware.c.

References dev, gps, GpsState::gspeed, stateGetHorizontalSpeedNorm_f(), and stateGetPositionEnu_i().

Referenced by autopilot_firmware_init().

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◆ send_rotorcraft_cmd()

static void send_rotorcraft_cmd	(	struct transport_tx *trans	UNUSED,
		struct link_device *dev	UNUSED
	)

static

Definition at line 238 of file autopilot_firmware.c.

Referenced by autopilot_firmware_init().

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◆ send_rotorcraft_rc()

static void send_rotorcraft_rc	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 210 of file autopilot_firmware.c.

References dev, radio_control, RADIO_KILL_SWITCH, RADIO_MODE, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, RadioControl::status, and RadioControl::values.

Referenced by autopilot_firmware_init().

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◆ send_status()

static void send_status	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 114 of file autopilot_firmware.c.

References pprz_autopilot::arming_status, autopilot, dev, electrical, GpsState::fix, RadioControl::frame_rate, gps, guidance_h, guidance_v, pprz_autopilot::in_flight, pprz_autopilot::mode, HorizontalGuidance::mode, VerticalGuidance::mode, motor_mixing, pprz_autopilot::motors_on, MotorMixing::nb_failure, MotorMixing::nb_saturation, sys_time::nb_sec, radio_control, RadioControl::status, Electrical::vboard, and Electrical::vsupply.

Referenced by autopilot_firmware_init(), and autopilot_send_mode().

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Variable Documentation

◆ autopilot_in_flight_counter

uint32_t autopilot_in_flight_counter

static

Definition at line 50 of file autopilot_firmware.c.

Referenced by autopilot_check_in_flight(), autopilot_firmware_init(), autopilot_in_flight_end_detection(), and autopilot_reset_in_flight_counter().

◆ autopilot_mode_auto2

uint8_t autopilot_mode_auto2

Definition at line 49 of file autopilot_firmware.c.

Referenced by autopilot_firmware_init(), and guidance_flip_run().

Macros

Functions

Variables

Macro Definition Documentation

◆ AUTOPILOT_IN_FLIGHT_MIN_ACCEL

◆ AUTOPILOT_IN_FLIGHT_MIN_SPEED

◆ AUTOPILOT_IN_FLIGHT_MIN_THRUST

◆ AUTOPILOT_IN_FLIGHT_TIME

◆ THRESHOLD_GROUND_DETECT

Function Documentation

◆ autopilot_check_in_flight()

◆ autopilot_event()

◆ autopilot_firmware_init()

◆ autopilot_ground_detection()

◆ autopilot_in_flight_end_detection()

◆ autopilot_reset_in_flight_counter()

◆ autopilot_send_mode()

◆ send_body_rates_accel()

◆ send_energy()

◆ send_fp()

◆ send_fp_min()

◆ send_rotorcraft_cmd()

◆ send_rotorcraft_rc()

◆ send_status()

Variable Documentation

◆ autopilot_in_flight_counter

◆ autopilot_mode_auto2