Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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main_fbw.c File Reference

FBW ( FlyByWire ) process. More...

#include "generated/airframe.h"
#include "firmwares/fixedwing/main_fbw.h"
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "commands.h"
#include "firmwares/fixedwing/actuators.h"
#include "subsystems/electrical.h"
#include "subsystems/radio_control.h"
#include "firmwares/fixedwing/autopilot.h"
#include "fbw_downlink.h"
#include "paparazzi.h"
#include "mcu_periph/i2c.h"
#include "inter_mcu.h"
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Functions

void init_fbw (void)
 
static void set_failsafe_mode (void)
 
void event_task_fbw (void)
 
void periodic_task_fbw (void)
 
void handle_periodic_tasks_fbw (void)
 

Variables

uint8_t fbw_mode
 
volatile uint8_t fbw_new_actuators = 0
 
tid_t fbw_periodic_tid
 id for periodic_task_fbw() timer More...
 
tid_t electrical_tid
 id for electrical_periodic() timer More...
 

Detailed Description

FBW ( FlyByWire ) process.

This process is responsible for decoding radio control, generating actuators signals either from the radio control or from the commands provided by the AP (autopilot) process. It also performs a telemetry task and a low level monitoring ( for parameters like the supply )

Definition in file main_fbw.c.

Function Documentation

void event_task_fbw ( void  )

Definition at line 118 of file main_fbw.c.

Referenced by sim_periodic_task().

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void handle_periodic_tasks_fbw ( void  )

Definition at line 211 of file main_fbw.c.

void init_fbw ( void  )

Definition at line 63 of file main_fbw.c.

Referenced by sim_init().

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void periodic_task_fbw ( void  )

Definition at line 188 of file main_fbw.c.

Referenced by handle_periodic_tasks_fbw(), and sim_periodic_task().

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static void set_failsafe_mode ( void  )
inlinestatic

Definition at line 97 of file main_fbw.c.

References commands_failsafe, fbw_mode, FBW_MODE_FAILSAFE, fbw_new_actuators, and SetCommands.

Referenced by periodic_task_fbw().

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Variable Documentation

tid_t electrical_tid

id for electrical_periodic() timer

Definition at line 60 of file main_fbw.c.

Referenced by handle_periodic_tasks_fbw(), and init_fbw().

uint8_t fbw_mode

Definition at line 52 of file main_fbw.c.

Referenced by event_task_fbw(), init_fbw(), periodic_task_fbw(), and set_failsafe_mode().

volatile uint8_t fbw_new_actuators = 0

Definition at line 57 of file main_fbw.c.

Referenced by event_task_fbw(), init_fbw(), and set_failsafe_mode().

tid_t fbw_periodic_tid

id for periodic_task_fbw() timer

Definition at line 59 of file main_fbw.c.

Referenced by handle_periodic_tasks_fbw(), and init_fbw().