Paparazzi UAS  v5.15_devel-99-g2ff7410
Paparazzi is a free software Unmanned Aircraft System.
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autopilot_utils.c File Reference

Utility functions and includes for autopilots. More...

+ Include dependency graph for autopilot_utils.c:

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Macros

#define THRESHOLD_1_PPRZ   (MIN_PPRZ / 2)
 
#define THRESHOLD_2_PPRZ   (MAX_PPRZ / 2)
 

Functions

bool ap_ahrs_is_aligned (void)
 Display descent speed in failsafe mode if needed. More...
 
uint8_t ap_mode_of_3way_switch (void)
 get autopilot mode as set by RADIO_MODE 3-way switch More...
 
void WEAK set_rotorcraft_commands (pprz_t *cmd_out, int32_t *cmd_in, bool in_flight, bool motors_on)
 Get autopilot mode from two 2way switches. More...
 

Detailed Description

Utility functions and includes for autopilots.

Definition in file autopilot_utils.c.

Macro Definition Documentation

#define THRESHOLD_1_PPRZ   (MIN_PPRZ / 2)

Definition at line 86 of file autopilot_utils.c.

Referenced by ap_mode_of_3way_switch().

#define THRESHOLD_2_PPRZ   (MAX_PPRZ / 2)

Definition at line 87 of file autopilot_utils.c.

Referenced by ap_mode_of_3way_switch().

Function Documentation

bool ap_ahrs_is_aligned ( void  )

Display descent speed in failsafe mode if needed.

Definition at line 41 of file autopilot_utils.c.

Referenced by autopilot_generated_on_rc_frame(), autopilot_generated_set_motors_on(), autopilot_static_on_rc_frame(), autopilot_static_set_mode(), and autopilot_static_set_motors_on().

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uint8_t ap_mode_of_3way_switch ( void  )

get autopilot mode as set by RADIO_MODE 3-way switch

Definition at line 90 of file autopilot_utils.c.

Referenced by autopilot_static_on_rc_frame().

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void WEAK set_rotorcraft_commands ( pprz_t cmd_out,
int32_t cmd_in,
bool  in_flight,
bool  motors_on 
)

Get autopilot mode from two 2way switches.

Set Rotorcraft commands.

RADIO_MODE switch just selectes between MANUAL and AUTO. If not MANUAL, the RADIO_AUTO_MODE switch selects between AUTO1 and AUTO2.

This is mainly a cludge for entry level radios with no three-way switch, but two available two-way switches which can be used.Set Rotorcraft commands. Limit thrust and/or yaw depending of the in_flight and motors_on flag status

Definition at line 135 of file autopilot_utils.c.