Paparazzi UAS  v5.15_devel-164-g81d4ceb
Paparazzi is a free software Unmanned Aircraft System.
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autopilot_generated.c
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1 /*
2  * Copyright (C) 2018 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, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
27 #define AUTOPILOT_CORE_AP_C
28 
30 #include "autopilot.h"
31 
33 #include "subsystems/commands.h"
34 #include "subsystems/actuators.h"
35 #include "subsystems/settings.h"
37 
38 #include "generated/settings.h"
39 
40 
42 {
43  // call generated init
44  autopilot_core_ap_init();
45  // copy generated mode to public mode (set at startup)
46  autopilot.mode = autopilot_mode_ap;
47 }
48 
49 
51 {
52 
53  autopilot_core_ap_periodic_task();
54 
55  // copy generated mode to public mode (may be changed on internal exceptions)
56  autopilot.mode = autopilot_mode_ap;
57 
58  /* Reset ground detection _after_ running flight plan
59  */
60  if (!autopilot_in_flight()) {
61  autopilot.ground_detected = false;
63  }
64 
65 }
66 
72 {
74 }
75 
76 
77 void autopilot_generated_set_mode(uint8_t new_autopilot_mode)
78 {
79  autopilot_core_ap_set_mode(new_autopilot_mode);
80  // copy generated mode to public mode
81  autopilot.mode = autopilot_mode_ap;
82 }
83 
84 
86 {
87  if (ap_ahrs_is_aligned() && motors_on
88 #ifdef AP_MODE_KILL
90 #endif
91  ) {
92  autopilot.motors_on = true;
93  } else {
94  autopilot.motors_on = false;
95  }
96 }
97 
98 
100 {
101 }
#define AP_MODE_KILL
Static autopilot modes.
void autopilot_generated_SetModeHandler(float mode)
AP mode setting handler.
Periodic telemetry system header (includes downlink utility and generated code).
Autopilot generated implementation Calls the code generated from autopilot XML file.
void autopilot_generated_init(void)
void autopilot_generated_on_rc_frame(void)
struct pprz_autopilot autopilot
Global autopilot structure.
Definition: autopilot.c:50
bool ap_ahrs_is_aligned(void)
Display descent speed in failsafe mode if needed.
Hardware independent API for actuators (servos, motor controllers).
bool detect_ground_once
enable automatic detection of ground (one shot)
Definition: autopilot.h:75
void autopilot_generated_set_mode(uint8_t new_autopilot_mode)
bool autopilot_in_flight(void)
get in_flight flag
Definition: autopilot.c:257
void autopilot_generated_set_motors_on(bool motors_on)
Hardware independent code for commands handling.
Core autopilot interface common to all firmwares.
bool motors_on
motor status
Definition: autopilot.h:68
unsigned char uint8_t
Definition: types.h:14
Persistent settings interface.
static uint8_t mode
mode holds the current sonar mode mode = 0 used at high altitude, uses 16 wave patterns mode = 1 used...
Definition: sonar_bebop.c:69
bool ground_detected
automatic detection of landing
Definition: autopilot.h:74
uint8_t mode
current autopilot mode
Definition: autopilot.h:63
void autopilot_generated_periodic(void)