Paparazzi UAS  v5.15_devel-99-g2ff7410
Paparazzi is a free software Unmanned Aircraft System.
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autopilot_utils.h
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1 /*
2  * Copyright (C) 2016 Gautier Hattenberger <gautier.hattenberger@enac.fr>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
29 #ifndef AUTOPILOT_UTILS_H
30 #define AUTOPILOT_UTILS_H
31 
32 #include "std.h"
33 #include "subsystems/commands.h"
34 
36 #ifndef FAILSAFE_DESCENT_SPEED
37 #define FAILSAFE_DESCENT_SPEED 1.5
38 #endif
39 
40 extern bool ap_ahrs_is_aligned(void);
41 #if defined RADIO_MODE_2x3
42 extern uint8_t ap_mode_of_3x2way_switch(void);
43 #else
44 extern uint8_t ap_mode_of_3way_switch(void);
45 #endif
46 #if defined RADIO_AUTO_MODE || defined(__DOXYGEN__)
47 extern uint8_t ap_mode_of_two_switches(void)
48 #endif
49 
61 extern void set_rotorcraft_commands(pprz_t *cmd_out, int32_t *cmd_in, bool in_flight, bool motors_on);
62 
63 // in case, backward compatibility macro
64 #define SetRotorcraftCommands(_cmd, _in_flight, _motors_on) set_rotorcraft_commands(commands, _cmd, _in_flight, _motors_on)
65 
66 #endif // AUTOPILOT_UTILS_H
67 
int16_t pprz_t
Definition: paparazzi.h:6
Hardware independent code for commands handling.
bool ap_ahrs_is_aligned(void)
Display descent speed in failsafe mode if needed.
signed long int32_t
Definition: types.h:19
unsigned char uint8_t
Definition: types.h:14
uint8_t ap_mode_of_3way_switch(void)
get autopilot mode as set by RADIO_MODE 3-way switch
void set_rotorcraft_commands(pprz_t *cmd_out, int32_t *cmd_in, bool in_flight, bool motors_on)
Set Rotorcraft commands.