Paparazzi UAS  v5.15_devel-59-g8c145b7
Paparazzi is a free software Unmanned Aircraft System.
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main_ap.c File Reference

Rover main loop. More...

#include <inttypes.h>
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "subsystems/datalink/telemetry.h"
#include "subsystems/datalink/datalink.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/settings.h"
#include "subsystems/commands.h"
#include "subsystems/actuators.h"
#include "subsystems/imu.h"
#include "subsystems/gps.h"
#include "subsystems/electrical.h"
#include "autopilot.h"
#include "subsystems/radio_control.h"
#include "subsystems/ahrs.h"
#include "state.h"
#include "firmwares/rover/main_ap.h"
#include "generated/modules.h"
#include "subsystems/abi.h"
#include "subsystems/navigation/waypoints.h"
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Macros

#define MODULES_C
 
#define ABI_C
 
#define BARO_PERIODIC_FREQUENCY   50
 
#define RC_LOST_MODE   AP_MODE_FAILSAFE
 mode to enter when RC is lost while using a mode with RC input (not AP_MODE_NAV) More...
 

Functions

void main_init (void)
 Main initialization. More...
 
void handle_periodic_tasks (void)
 
void main_periodic (void)
 
void telemetry_periodic (void)
 
void failsafe_check (void)
 
void main_event (void)
 

Variables

tid_t main_periodic_tid
 id for main_periodic() timer More...
 
tid_t modules_tid
 id for modules_periodic_task() timer More...
 
tid_t failsafe_tid
 id for failsafe_check() timer More...
 
tid_t radio_control_tid
 id for radio_control_periodic_task() timer More...
 
tid_t electrical_tid
 id for electrical_periodic() timer More...
 
tid_t telemetry_tid
 id for telemetry_periodic() timer More...
 

Detailed Description

Rover main loop.

Definition in file main_ap.c.

Macro Definition Documentation

#define ABI_C

Definition at line 30 of file main_ap.c.

#define BARO_PERIODIC_FREQUENCY   50

Definition at line 94 of file main_ap.c.

Referenced by init_ap(), and main_init().

#define MODULES_C

Definition at line 28 of file main_ap.c.

#define RC_LOST_MODE   AP_MODE_FAILSAFE

mode to enter when RC is lost while using a mode with RC input (not AP_MODE_NAV)

Definition at line 264 of file main_ap.c.

Function Documentation

void handle_periodic_tasks ( void  )

Definition at line 189 of file main_ap.c.

References baro_periodic(), electrical_periodic(), failsafe_check(), main_periodic(), radio_control_periodic_task(), sys_time_check_and_ack_timer(), and telemetry_periodic().

Referenced by main(), nps_autopilot_run_step(), thd_ap(), and thd_fbw().

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void main_event ( void  )
inline

Definition at line 272 of file main_ap.c.

References autopilot, autopilot_event(), autopilot_on_rc_frame(), BaroEvent, mcu_event(), RadioControlEvent, and pprz_autopilot::use_rc.

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void main_periodic ( void  )
inline
void telemetry_periodic ( void  )

Definition at line 243 of file main_ap.c.

References autopilot_send_version(), DefaultChannel, DefaultDevice, and DefaultPeriodic.

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Variable Documentation

tid_t electrical_tid

id for electrical_periodic() timer

Definition at line 109 of file main_ap.c.

tid_t failsafe_tid

id for failsafe_check() timer

Definition at line 107 of file main_ap.c.

tid_t main_periodic_tid

id for main_periodic() timer

Definition at line 105 of file main_ap.c.

tid_t modules_tid

id for modules_periodic_task() timer

Definition at line 106 of file main_ap.c.

tid_t radio_control_tid

id for radio_control_periodic_task() timer

Definition at line 108 of file main_ap.c.

tid_t telemetry_tid

id for telemetry_periodic() timer

Definition at line 110 of file main_ap.c.