autopilot_static.h File Reference

Autopilot static implementation. More...

Go to the source code of this file.

Macros
#define	AP_MODE_KILL   0
	Static autopilot modes. More...
#define	AP_MODE_FAILSAFE   1
#define	AP_MODE_HOME   2
#define	AP_MODE_RATE_DIRECT   3
#define	AP_MODE_ATTITUDE_DIRECT   4
#define	AP_MODE_RATE_RC_CLIMB   5
#define	AP_MODE_ATTITUDE_RC_CLIMB   6
#define	AP_MODE_ATTITUDE_CLIMB   7
#define	AP_MODE_RATE_Z_HOLD   8
#define	AP_MODE_ATTITUDE_Z_HOLD   9
#define	AP_MODE_HOVER_DIRECT   10
#define	AP_MODE_HOVER_CLIMB   11
#define	AP_MODE_HOVER_Z_HOLD   12
#define	AP_MODE_NAV   13
#define	AP_MODE_RC_DIRECT   14
#define	AP_MODE_CARE_FREE_DIRECT   15
#define	AP_MODE_FORWARD   16
#define	AP_MODE_GUIDED   19
#define	MODE_MANUAL   AP_MODE_ATTITUDE_DIRECT
	Default RC mode. More...
#define	MODE_AUTO1   AP_MODE_HOVER_Z_HOLD
#define	MODE_AUTO2   AP_MODE_NAV

Functions
void	autopilot_static_init (void)
	Specific function for static AP. More...
void	autopilot_static_periodic (void)
void	autopilot_static_on_rc_frame (void)
	Function to be called when a message from FBW is available. More...
void	autopilot_static_set_mode (uint8_t new_autopilot_mode)
void	autopilot_static_SetModeHandler (float new_autopilot_mode)
	AP mode setting handler. More...
void	autopilot_static_set_motors_on (bool motors_on)

Detailed Description

Autopilot static implementation.

Definition in file autopilot_static.h.

Macro Definition Documentation

AP_MODE_ATTITUDE_CLIMB

#define AP_MODE_ATTITUDE_CLIMB   7

Definition at line 42 of file autopilot_static.h.

AP_MODE_ATTITUDE_DIRECT

#define AP_MODE_ATTITUDE_DIRECT   4

Definition at line 39 of file autopilot_static.h.

AP_MODE_ATTITUDE_RC_CLIMB

#define AP_MODE_ATTITUDE_RC_CLIMB   6

Definition at line 41 of file autopilot_static.h.

AP_MODE_ATTITUDE_Z_HOLD

#define AP_MODE_ATTITUDE_Z_HOLD   9

Definition at line 44 of file autopilot_static.h.

AP_MODE_CARE_FREE_DIRECT

#define AP_MODE_CARE_FREE_DIRECT   15

Definition at line 50 of file autopilot_static.h.

AP_MODE_FAILSAFE

#define AP_MODE_FAILSAFE   1

Definition at line 36 of file autopilot_static.h.

AP_MODE_FORWARD

#define AP_MODE_FORWARD   16

Definition at line 51 of file autopilot_static.h.

AP_MODE_GUIDED

#define AP_MODE_GUIDED   19

Definition at line 52 of file autopilot_static.h.

AP_MODE_HOME

#define AP_MODE_HOME   2

Definition at line 37 of file autopilot_static.h.

AP_MODE_HOVER_CLIMB

#define AP_MODE_HOVER_CLIMB   11

Definition at line 46 of file autopilot_static.h.

AP_MODE_HOVER_DIRECT

#define AP_MODE_HOVER_DIRECT   10

Definition at line 45 of file autopilot_static.h.

AP_MODE_HOVER_Z_HOLD

#define AP_MODE_HOVER_Z_HOLD   12

Definition at line 47 of file autopilot_static.h.

AP_MODE_KILL

#define AP_MODE_KILL   0

Static autopilot modes.

Definition at line 35 of file autopilot_static.h.

AP_MODE_NAV

#define AP_MODE_NAV   13

Definition at line 48 of file autopilot_static.h.

AP_MODE_RATE_DIRECT

#define AP_MODE_RATE_DIRECT   3

Definition at line 38 of file autopilot_static.h.

AP_MODE_RATE_RC_CLIMB

#define AP_MODE_RATE_RC_CLIMB   5

Definition at line 40 of file autopilot_static.h.

AP_MODE_RATE_Z_HOLD

#define AP_MODE_RATE_Z_HOLD   8

Definition at line 43 of file autopilot_static.h.

AP_MODE_RC_DIRECT

#define AP_MODE_RC_DIRECT   14

Definition at line 49 of file autopilot_static.h.

MODE_AUTO1

#define MODE_AUTO1   AP_MODE_HOVER_Z_HOLD

Definition at line 61 of file autopilot_static.h.

MODE_AUTO2

#define MODE_AUTO2   AP_MODE_NAV

Definition at line 64 of file autopilot_static.h.

MODE_MANUAL

#define MODE_MANUAL   AP_MODE_ATTITUDE_DIRECT

Default RC mode.

Definition at line 58 of file autopilot_static.h.

Function Documentation

autopilot_static_init()

void autopilot_static_init

(

void

)

Specific function for static AP.

Specific function for static AP.

Static autopilot functions.

Todo:

, properly implement or remove

Todo:

: properly implement/fix a triggered attitude loop

Todo:

: properly implement/fix a triggered attitude loop

Definition at line 81 of file autopilot_static.c.

References ABI_BROADCAST, AP_MODE_AUTO2, AP_MODE_KILL, autopilot, autopilot_arming_init(), autopilot_static_set_mode(), lateral_mode, LATERAL_MODE_MANUAL, pprz_autopilot::mode, and MODE_STARTUP.

Referenced by autopilot_init().

Here is the call graph for this function:

Here is the caller graph for this function:

autopilot_static_on_rc_frame()

void autopilot_static_on_rc_frame

(

void

)

Function to be called when a message from FBW is available.

In AUTO1 mode, compute roll setpoint and pitch setpoint from RADIO_ROLL and RADIO_PITCH

Roll is bounded between [-AUTO1_MAX_ROLL;AUTO1_MAX_ROLL]

Pitch is bounded between [-AUTO1_MAX_PITCH;AUTO1_MAX_PITCH]

Else asynchronously set by h_ctl_course_loop()

In AUTO1, throttle comes from RADIO_THROTTLE In MANUAL, the value is copied to get it in the telemetry

else asynchronously set by v_ctl_climb_loop();

In AUTO1 mode, compute roll setpoint and pitch setpoint from RADIO_ROLL and RADIO_PITCH

Roll is bounded between [-AUTO1_MAX_ROLL;AUTO1_MAX_ROLL]

Pitch is bounded between [-AUTO1_MAX_PITCH;AUTO1_MAX_PITCH]

Else asynchronously set by h_ctl_course_loop()

In AUTO1, throttle comes from RADIO_THROTTLE In MANUAL, the value is copied to get it in the telemetry

else asynchronously set by v_ctl_climb_loop();

Definition at line 100 of file autopilot_static.c.

References AP_MODE_AUTO1, AP_MODE_FAILSAFE, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_MANUAL, AP_MODE_NAV, ap_mode_of_3way_switch(), autopilot, autopilot_arming_check_motors_on(), autopilot_get_mode(), autopilot_static_set_mode(), commands, FLOAT_OF_PPRZ, GpsIsLost, h_ctl_pitch_setpoint, h_ctl_roll_setpoint, kill_switch_is_on(), pprz_autopilot::kill_throttle, pprz_autopilot::mode, MODE_MANUAL, pprz_autopilot::motors_on, nav, radio_control, radio_control_get(), RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, pprz_autopilot::throttle, RotorcraftNavigation::too_far_from_home, UNLOCKED_HOME_MODE, v_ctl_throttle_setpoint, and RadioControl::values.

Referenced by autopilot_on_rc_frame().

Here is the call graph for this function:

Here is the caller graph for this function:

autopilot_static_periodic()

void autopilot_static_periodic

(

void

)

Definition at line 93 of file autopilot_static.c.

References AP_MODE_FAILSAFE, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_NAV, autopilot, autopilot_in_flight(), autopilot_static_set_mode(), Stabilization::cmd, commands, commands_failsafe, compute_dist2_to_home(), datalink_lost(), pprz_autopilot::detect_ground_once, RotorcraftNavigation::dist2_to_home, RotorcraftNavigation::failsafe_mode_dist2, FAILSAFE_MODE_TOO_FAR_FROM_HOME, pprz_autopilot::ground_detected, guidance_h, GUIDANCE_H_MODE_NONE, guidance_h_run(), guidance_v_run(), higher_than_max_altitude(), pprz_autopilot::in_flight, pprz_autopilot::mode, HorizontalGuidance::mode, pprz_autopilot::motors_on, nav, nav_home(), nav_periodic_task(), NAV_PRESCALER, Stabilization::rc_sp, SetRotorcraftCommands, stabilization, stabilization_get_failsafe_sp(), stabilization_run(), pprz_autopilot::throttle, thrust_sp, and RotorcraftNavigation::too_far_from_home.

Referenced by autopilot_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

autopilot_static_set_mode()

void autopilot_static_set_mode

(

uint8_t

new_autopilot_mode

)

Definition at line 140 of file autopilot_static.c.

References AP_MODE_ATTITUDE_CLIMB, AP_MODE_ATTITUDE_DIRECT, AP_MODE_ATTITUDE_RC_CLIMB, AP_MODE_ATTITUDE_Z_HOLD, AP_MODE_CARE_FREE_DIRECT, AP_MODE_FAILSAFE, AP_MODE_FORWARD, AP_MODE_GUIDED, AP_MODE_HOME, AP_MODE_HOVER_CLIMB, AP_MODE_HOVER_DIRECT, AP_MODE_HOVER_Z_HOLD, AP_MODE_KILL, AP_MODE_NAV, AP_MODE_RATE_DIRECT, AP_MODE_RATE_RC_CLIMB, AP_MODE_RATE_Z_HOLD, AP_MODE_RC_DIRECT, autopilot, autopilot_set_in_flight(), autopilot_set_motors_on(), Stabilization::cmd, FAILSAFE_DESCENT_SPEED, guidance_h_mode_changed(), GUIDANCE_H_MODE_GUIDED, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_NONE, guidance_v_mode_changed(), GUIDANCE_V_MODE_CLIMB, GUIDANCE_V_MODE_GUIDED, GUIDANCE_V_MODE_HOVER, GUIDANCE_V_MODE_KILL, GUIDANCE_V_MODE_NAV, GUIDANCE_V_MODE_RC_CLIMB, GUIDANCE_V_MODE_RC_DIRECT, guidance_v_set_vz(), pprz_autopilot::mode, stabilization, STABILIZATION_ATT_SUBMODE_CARE_FREE, STABILIZATION_ATT_SUBMODE_FORWARD, STABILIZATION_ATT_SUBMODE_HEADING, STABILIZATION_MODE_ATTITUDE, stabilization_mode_changed(), STABILIZATION_MODE_DIRECT, STABILIZATION_MODE_NONE, and STABILIZATION_MODE_RATE.

Referenced by autopilot_set_mode(), autopilot_static_init(), autopilot_static_on_rc_frame(), autopilot_static_periodic(), and autopilot_static_SetModeHandler().

Here is the call graph for this function:

Here is the caller graph for this function:

autopilot_static_set_motors_on()

void autopilot_static_set_motors_on

(

bool

motors_on

)

Definition at line 152 of file autopilot_static.c.

References AP_MODE_KILL, autopilot, autopilot_arming_set(), pprz_autopilot::mode, and pprz_autopilot::motors_on.

Referenced by autopilot_force_motors_on().

Here is the call graph for this function:

Here is the caller graph for this function:

autopilot_static_SetModeHandler()

void autopilot_static_SetModeHandler

(

float

mode

)

AP mode setting handler.

Checks RC status before calling autopilot_static_set_mode function

Definition at line 147 of file autopilot_static.c.

References AP_MODE_FAILSAFE, AP_MODE_GUIDED, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_NAV, autopilot_static_set_mode(), mode, radio_control, RC_OK, and RadioControl::status.

Referenced by autopilot_SetModeHandler().

Here is the call graph for this function:

Here is the caller graph for this function: