Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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telemetry.h File Reference
#include "std.h"
#include "messages.h"
#include "mcu_periph/uart.h"
#include "subsystems/datalink/downlink.h"
#include "generated/periodic_telemetry.h"
#include "firmwares/rotorcraft/autopilot.h"
#include "firmwares/rotorcraft/guidance.h"
#include "firmwares/rotorcraft/actuators.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/electrical.h"
#include "subsystems/imu.h"
#include "subsystems/ins.h"
#include "subsystems/ahrs.h"
#include "mcu_periph/i2c.h"
#include "subsystems/sensors/baro.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "subsystems/ahrs/ahrs_aligner.h"
#include "firmwares/rotorcraft/navigation.h"
#include "generated/settings.h"
+ Include dependency graph for telemetry.h:
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Go to the source code of this file.

Macros

#define PERIODIC_SEND_ALIVE(_trans, _dev)   DOWNLINK_SEND_ALIVE(_trans, _dev, 16, MD5SUM)
 
#define PERIODIC_SEND_ROTORCRAFT_STATUS(_trans, _dev)
 
#define PERIODIC_SEND_RC(_trans, _dev)   {}
 
#define PERIODIC_SEND_ROTORCRAFT_RADIO_CONTROL(_trans, _dev)   {}
 
#define PERIODIC_SEND_PPM(_trans, _dev)   {}
 
#define PERIODIC_SEND_IMU_GYRO_SCALED(_trans, _dev)
 
#define PERIODIC_SEND_IMU_ACCEL_SCALED(_trans, _dev)
 
#define PERIODIC_SEND_IMU_MAG_SCALED(_trans, _dev)
 
#define PERIODIC_SEND_IMU_GYRO_RAW(_trans, _dev)
 
#define PERIODIC_SEND_IMU_ACCEL_RAW(_trans, _dev)
 
#define PERIODIC_SEND_IMU_MAG_RAW(_trans, _dev)
 
#define PERIODIC_SEND_BARO_RAW(_trans, _dev)
 
#define PERIODIC_SEND_RATE_LOOP(_trans, _dev)
 
#define PERIODIC_SEND_FILTER_ALIGNER(_trans, _dev)
 
#define PERIODIC_SEND_ROTORCRAFT_CMD(_trans, _dev)
 
#define PERIODIC_SEND_FILTER(_trans, _dev)   {}
 
#define PERIODIC_SEND_AHRS_LKF(_trans, _dev)   {}
 
#define PERIODIC_SEND_AHRS_LKF_DEBUG(_trans, _dev)   {}
 
#define PERIODIC_SEND_AHRS_LKF_MAG_DBG(_trans, _dev)   {}
 
#define PERIODIC_SEND_AHRS_LKF_ACC_DBG(_trans, _dev)   {}
 
#define PERIODIC_SEND_AHRS_REF_QUAT(_trans, _dev)   {}
 
#define PERIODIC_SEND_AHRS_QUAT_INT(_trans, _dev)
 
#define PERIODIC_SEND_AHRS_EULER_INT(_trans, _dev)
 
#define PERIODIC_SEND_AHRS_RMAT_INT(_trans, _dev)
 
#define PERIODIC_SEND_VFF(_trans, _dev)   {}
 
#define PERIODIC_SEND_HFF(_trans, _dev)   {}
 
#define PERIODIC_SEND_HFF_DBG(_trans, _dev)   {}
 
#define PERIODIC_SEND_HFF_GPS(_trans, _dev)   {}
 
#define PERIODIC_SEND_GUIDANCE(_trans, _dev)
 
#define PERIODIC_SEND_INS_Z(_trans, _dev)
 
#define PERIODIC_SEND_INS(_trans, _dev)
 
#define PERIODIC_SEND_INS_REF(_trans, _dev)
 
#define PERIODIC_SEND_VERT_LOOP(_trans, _dev)
 
#define PERIODIC_SEND_HOVER_LOOP(_trans, _dev)
 
#define PERIODIC_SEND_GUIDANCE_H_REF(_trans, _dev)
 
#define PERIODIC_SEND_ROTORCRAFT_FP(_trans, _dev)
 
#define PERIODIC_SEND_GPS_INT(_trans, _dev)   {}
 
#define PERIODIC_SEND_ROTORCRAFT_NAV_STATUS(_trans, _dev)
 
#define PERIODIC_SEND_WP_MOVED(_trans, _dev)
 
#define PERIODIC_SEND_BOOZ2_CAM(_trans, _dev)   {}
 
#define PERIODIC_SEND_ROTORCRAFT_TUNE_HOVER(_trans, _dev)
 
#define PERIODIC_SEND_I2C0_ERRORS(_trans, _dev)   {}
 
#define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev)   {}
 
#define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev)   {}
 
#define PERIODIC_SEND_I2C_ERRORS(_trans, _dev)
 
#define PERIODIC_SEND_BOOZ2_SONAR(_trans, _dev)   {}
 
#define PERIODIC_SEND_CAM_TRACK(_trans, _dev)   {}
 
#define PERIODIC_SEND_DL_VALUE(_trans, _dev)   PeriodicSendDlValue(_trans, _dev)
 

Macro Definition Documentation

#define PERIODIC_SEND_AHRS_EULER_INT (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_AHRS_EULER_INT(_trans, _dev, \
}
int32_t phi
in rad with INT32_ANGLE_FRAC
struct Ahrs ahrs
global AHRS state (fixed point version)
Definition: ahrs.c:24
int32_t theta
in rad with INT32_ANGLE_FRAC
struct Int32Eulers ltp_to_body_euler
Rotation from LocalTangentPlane to body frame as Euler angles.
Definition: ahrs.h:50
struct Int32Eulers ltp_to_imu_euler
Rotation from LocalTangentPlane to IMU frame as Euler angles.
Definition: ahrs.h:45
int32_t psi
in rad with INT32_ANGLE_FRAC

Definition at line 448 of file telemetry.h.

#define PERIODIC_SEND_AHRS_LKF (   _trans,
  _dev 
)    {}

Definition at line 414 of file telemetry.h.

#define PERIODIC_SEND_AHRS_LKF_ACC_DBG (   _trans,
  _dev 
)    {}

Definition at line 417 of file telemetry.h.

#define PERIODIC_SEND_AHRS_LKF_DEBUG (   _trans,
  _dev 
)    {}

Definition at line 415 of file telemetry.h.

#define PERIODIC_SEND_AHRS_LKF_MAG_DBG (   _trans,
  _dev 
)    {}

Definition at line 416 of file telemetry.h.

#define PERIODIC_SEND_AHRS_QUAT_INT (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_AHRS_QUAT_INT(_trans, _dev, \
}
struct Ahrs ahrs
global AHRS state (fixed point version)
Definition: ahrs.c:24
struct Int32Quat ltp_to_imu_quat
Rotation from LocalTangentPlane to IMU frame as unit quaternion.
Definition: ahrs.h:44
struct Int32Quat ltp_to_body_quat
Rotation from LocalTangentPlane to body frame as unit quaternion.
Definition: ahrs.h:49

Definition at line 436 of file telemetry.h.

#define PERIODIC_SEND_AHRS_REF_QUAT (   _trans,
  _dev 
)    {}

Definition at line 433 of file telemetry.h.

#define PERIODIC_SEND_AHRS_RMAT_INT (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_AHRS_RMAT(_trans, _dev, \
}
struct Ahrs ahrs
global AHRS state (fixed point version)
Definition: ahrs.c:24
struct Int32RMat ltp_to_body_rmat
Rotation from LocalTangentPlane to body frame as Rotation Matrix.
Definition: ahrs.h:51
int32_t m[3 *3]
struct Int32RMat ltp_to_imu_rmat
Rotation from LocalTangentPlane to IMU frame as Rotation Matrix.
Definition: ahrs.h:46

Definition at line 458 of file telemetry.h.

#define PERIODIC_SEND_ALIVE (   _trans,
  _dev 
)    DOWNLINK_SEND_ALIVE(_trans, _dev, 16, MD5SUM)

Definition at line 54 of file telemetry.h.

#define PERIODIC_SEND_BARO_RAW (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_BARO_RAW(_trans, _dev, \
}
int32_t absolute
Definition: baro.h:42
struct Baro baro
Definition: baro_board.c:34
int32_t differential
Definition: baro.h:43

Definition at line 181 of file telemetry.h.

#define PERIODIC_SEND_BOOZ2_CAM (   _trans,
  _dev 
)    {}

Definition at line 723 of file telemetry.h.

#define PERIODIC_SEND_BOOZ2_SONAR (   _trans,
  _dev 
)    {}

Definition at line 838 of file telemetry.h.

#define PERIODIC_SEND_CAM_TRACK (   _trans,
  _dev 
)    {}

Definition at line 853 of file telemetry.h.

#define PERIODIC_SEND_DL_VALUE (   _trans,
  _dev 
)    PeriodicSendDlValue(_trans, _dev)

Definition at line 857 of file telemetry.h.

#define PERIODIC_SEND_FILTER (   _trans,
  _dev 
)    {}

Definition at line 350 of file telemetry.h.

#define PERIODIC_SEND_FILTER_ALIGNER (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_FILTER_ALIGNER(_trans, _dev, \
&imu.gyro.p, \
&imu.gyro.q, \
&imu.gyro.r, \
}
int32_t p
in rad/s^2 with INT32_RATE_FRAC
int32_t low_noise_cnt
Definition: ahrs_aligner.h:39
uint8_t status
Definition: ahrs_aligner.h:40
int32_t noise
Definition: ahrs_aligner.h:38
struct AhrsAligner ahrs_aligner
Definition: ahrs_aligner.c:30
int32_t q
in rad/s^2 with INT32_RATE_FRAC
struct Int32Rates gyro
gyroscope measurements
Definition: imu.h:40
struct Imu imu
global IMU state
Definition: imu_aspirin2.c:50
int32_t r
in rad/s^2 with INT32_RATE_FRAC
struct Int32Rates lp_gyro
Definition: ahrs_aligner.h:35

Definition at line 306 of file telemetry.h.

#define PERIODIC_SEND_GPS_INT (   _trans,
  _dev 
)    {}

Definition at line 684 of file telemetry.h.

#define PERIODIC_SEND_GUIDANCE (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_GUIDANCE(_trans, _dev, \
&guidance_h_cur_pos.x, \
&guidance_h_cur_pos.y, \
&guidance_h_held_pos.x, \
&guidance_h_held_pos.y); \
}

Definition at line 536 of file telemetry.h.

#define PERIODIC_SEND_GUIDANCE_H_REF (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_GUIDANCE_H_REF_INT(_trans, _dev, \
}
struct Int32Vect2 guidance_h_pos_ref
Definition: guidance_h.c:42
struct Int32Vect2 guidance_h_accel_ref
Definition: guidance_h.c:44
struct Int32Vect2 guidance_h_pos_sp
horizontal position setpoint in NED.
Definition: guidance_h.c:41
struct Int32Vect2 guidance_h_speed_ref
Definition: guidance_h.c:43

Definition at line 622 of file telemetry.h.

#define PERIODIC_SEND_HFF (   _trans,
  _dev 
)    {}

Definition at line 531 of file telemetry.h.

#define PERIODIC_SEND_HFF_DBG (   _trans,
  _dev 
)    {}

Definition at line 532 of file telemetry.h.

#define PERIODIC_SEND_HFF_GPS (   _trans,
  _dev 
)    {}

Definition at line 533 of file telemetry.h.

#define PERIODIC_SEND_HOVER_LOOP (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_HOVER_LOOP(_trans, _dev, \
}
int32_t phi
in rad with INT32_ANGLE_FRAC
struct NedCoor_i ins_ltp_accel
Definition: ins.c:79
int32_t theta
in rad with INT32_ANGLE_FRAC
struct NedCoor_i ins_ltp_pos
Definition: ins.c:77
struct Int32Vect2 guidance_h_pos_err_sum
Definition: guidance_h.c:48
struct Int32Vect2 guidance_h_speed_err
Definition: guidance_h.c:47
struct Int32Vect2 guidance_h_pos_sp
horizontal position setpoint in NED.
Definition: guidance_h.c:41
struct NedCoor_i ins_ltp_speed
Definition: ins.c:78
struct Int32Vect2 guidance_h_nav_err
Definition: guidance_h.c:49
int32_t psi
in rad with INT32_ANGLE_FRAC
struct Int32Vect2 guidance_h_command_earth
Definition: guidance_h.c:52
struct Int32Eulers guidance_h_command_body
with INT32_ANGLE_FRAC
Definition: guidance_h.c:54
struct Int32Vect2 guidance_h_pos_err
Definition: guidance_h.c:46

Definition at line 597 of file telemetry.h.

#define PERIODIC_SEND_I2C0_ERRORS (   _trans,
  _dev 
)    {}

Definition at line 768 of file telemetry.h.

#define PERIODIC_SEND_I2C1_ERRORS (   _trans,
  _dev 
)    {}

Definition at line 796 of file telemetry.h.

#define PERIODIC_SEND_I2C2_ERRORS (   _trans,
  _dev 
)    {}

Definition at line 824 of file telemetry.h.

#define PERIODIC_SEND_I2C_ERRORS (   _trans,
  _dev 
)
Value:
{ \
}
#define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev)
Definition: telemetry.h:824
#define PERIODIC_SEND_I2C0_ERRORS(_trans, _dev)
Definition: telemetry.h:768
#define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev)
Definition: telemetry.h:796

Definition at line 828 of file telemetry.h.

#define PERIODIC_SEND_IMU_ACCEL_RAW (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_IMU_ACCEL_RAW(_trans, _dev, \
}
struct Int32Vect3 accel_unscaled
unscaled accelerometer measurements
Definition: imu.h:49
struct Imu imu
global IMU state
Definition: imu_aspirin2.c:50

Definition at line 165 of file telemetry.h.

#define PERIODIC_SEND_IMU_ACCEL_SCALED (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_IMU_ACCEL_SCALED(_trans, _dev, \
&imu.accel.x, \
&imu.accel.y, \
&imu.accel.z); \
}
struct Int32Vect3 accel
accelerometer measurements
Definition: imu.h:41
struct Imu imu
global IMU state
Definition: imu_aspirin2.c:50

Definition at line 144 of file telemetry.h.

#define PERIODIC_SEND_IMU_GYRO_RAW (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_IMU_GYRO_RAW(_trans, _dev, \
}
int32_t p
in rad/s^2 with INT32_RATE_FRAC
struct Int32Rates gyro_unscaled
unscaled gyroscope measurements
Definition: imu.h:48
int32_t q
in rad/s^2 with INT32_RATE_FRAC
struct Imu imu
global IMU state
Definition: imu_aspirin2.c:50
int32_t r
in rad/s^2 with INT32_RATE_FRAC

Definition at line 158 of file telemetry.h.

#define PERIODIC_SEND_IMU_GYRO_SCALED (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_IMU_GYRO_SCALED(_trans, _dev, \
&imu.gyro.p, \
&imu.gyro.q, \
&imu.gyro.r); \
}
int32_t p
in rad/s^2 with INT32_RATE_FRAC
int32_t q
in rad/s^2 with INT32_RATE_FRAC
struct Int32Rates gyro
gyroscope measurements
Definition: imu.h:40
struct Imu imu
global IMU state
Definition: imu_aspirin2.c:50
int32_t r
in rad/s^2 with INT32_RATE_FRAC

Definition at line 137 of file telemetry.h.

#define PERIODIC_SEND_IMU_MAG_RAW (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_IMU_MAG_RAW(_trans, _dev, \
}
struct Int32Vect3 mag_unscaled
unscaled magnetometer measurements
Definition: imu.h:50
struct Imu imu
global IMU state
Definition: imu_aspirin2.c:50

Definition at line 172 of file telemetry.h.

#define PERIODIC_SEND_IMU_MAG_SCALED (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_IMU_MAG_SCALED(_trans, _dev, \
&imu.mag.x, \
&imu.mag.y, \
&imu.mag.z); \
}
struct Int32Vect3 mag
magnetometer measurements
Definition: imu.h:42
struct Imu imu
global IMU state
Definition: imu_aspirin2.c:50

Definition at line 151 of file telemetry.h.

#define PERIODIC_SEND_INS (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_INS(_trans, _dev, \
}
struct NedCoor_i ins_ltp_accel
Definition: ins.c:79
struct NedCoor_i ins_ltp_pos
Definition: ins.c:77
struct NedCoor_i ins_ltp_speed
Definition: ins.c:78

Definition at line 552 of file telemetry.h.

#define PERIODIC_SEND_INS_REF (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_INS_REF(_trans, _dev, \
&ins_qfe); \
}
int32_t y
in centimeters
int32_t lat
in radians*1e7
struct LtpDef_i ins_ltp_def
Definition: ins.c:53
struct LlaCoor_i lla
Reference point in lla.
int32_t z
in centimeters
int32_t alt
in millimeters above WGS84 reference ellipsoid
int32_t x
in centimeters
bool_t ins_ltp_initialised
Definition: ins.c:54
int32_t lon
in radians*1e7
int32_t hmsl
Height above mean sea level in mm.
struct EcefCoor_i ecef
Reference point in ecef.

Definition at line 565 of file telemetry.h.

#define PERIODIC_SEND_INS_Z (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_INS_Z(_trans, _dev, \
&ins_baro_alt, \
}
struct NedCoor_i ins_ltp_accel
Definition: ins.c:79
struct NedCoor_i ins_ltp_pos
Definition: ins.c:77
struct NedCoor_i ins_ltp_speed
Definition: ins.c:78

Definition at line 544 of file telemetry.h.

#define PERIODIC_SEND_PPM (   _trans,
  _dev 
)    {}

Definition at line 134 of file telemetry.h.

#define PERIODIC_SEND_RATE_LOOP (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_RATE_LOOP(_trans, _dev, \
&stabilization_cmd[COMMAND_THRUST]); \
}
struct Int32Rates stabilization_rate_ff_cmd
int32_t p
in rad/s^2 with INT32_RATE_FRAC
struct Int32Rates stabilization_rate_sum_err
struct Int32Rates stabilization_rate_refdot
int32_t stabilization_cmd[COMMANDS_NB]
Stabilization commands.
Definition: stabilization.c:28
int32_t q
in rad/s^2 with INT32_RATE_FRAC
struct Int32Rates stabilization_rate_fb_cmd
struct Int32Rates stabilization_rate_ref
int32_t r
in rad/s^2 with INT32_RATE_FRAC
struct Int32Rates stabilization_rate_sp

Definition at line 190 of file telemetry.h.

#define PERIODIC_SEND_RC (   _trans,
  _dev 
)    {}

Definition at line 119 of file telemetry.h.

#define PERIODIC_SEND_ROTORCRAFT_CMD (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_ROTORCRAFT_CMD(_trans, _dev, \
&stabilization_cmd[COMMAND_ROLL], \
&stabilization_cmd[COMMAND_PITCH], \
&stabilization_cmd[COMMAND_YAW], \
&stabilization_cmd[COMMAND_THRUST]); \
}
int32_t stabilization_cmd[COMMANDS_NB]
Stabilization commands.
Definition: stabilization.c:28

Definition at line 320 of file telemetry.h.

#define PERIODIC_SEND_ROTORCRAFT_FP (   _trans,
  _dev 
)
Value:
{ \
int32_t carrot_up = -guidance_v_z_sp; \
DOWNLINK_SEND_ROTORCRAFT_FP( _trans, _dev, \
&carrot_up, \
&stabilization_cmd[COMMAND_THRUST], \
}
int32_t guidance_v_z_sp
altitude setpoint in meters (input).
Definition: guidance_v.c:76
int32_t phi
in rad with INT32_ANGLE_FRAC
struct EnuCoor_i ins_enu_speed
Definition: ins.c:81
uint16_t autopilot_flight_time
Definition: autopilot.c:36
struct EnuCoor_i ins_enu_pos
Definition: ins.c:80
struct Ahrs ahrs
global AHRS state (fixed point version)
Definition: ahrs.c:24
int32_t theta
in rad with INT32_ANGLE_FRAC
struct Int32Vect2 guidance_h_pos_sp
horizontal position setpoint in NED.
Definition: guidance_h.c:41
signed long int32_t
Definition: types.h:19
struct Int32Eulers ltp_to_body_euler
Rotation from LocalTangentPlane to body frame as Euler angles.
Definition: ahrs.h:50
int32_t psi
in rad with INT32_ANGLE_FRAC
int32_t stabilization_cmd[COMMANDS_NB]
Stabilization commands.
Definition: stabilization.c:28
struct Int32Eulers guidance_h_command_body
with INT32_ANGLE_FRAC
Definition: guidance_h.c:54

Definition at line 635 of file telemetry.h.

#define PERIODIC_SEND_ROTORCRAFT_NAV_STATUS (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_ROTORCRAFT_NAV_STATUS(_trans, _dev, \
DOWNLINK_SEND_SEGMENT(_trans, _dev, &sx, &sy, &ex, &ey); \
} \
DOWNLINK_SEND_CIRCLE(_trans, _dev, &cx, &cy, &r); \
} \
}
uint16_t block_time
uint8_t nav_block
#define POS_FLOAT_OF_BFP(_ai)
uint16_t stage_time
In s.
uint8_t nav_stage

Definition at line 688 of file telemetry.h.

#define PERIODIC_SEND_ROTORCRAFT_RADIO_CONTROL (   _trans,
  _dev 
)    {}

Definition at line 120 of file telemetry.h.

#define PERIODIC_SEND_ROTORCRAFT_STATUS (   _trans,
  _dev 
)
Value:
{ \
uint32_t imu_nb_err = 0; \
uint8_t twi_blmc_nb_err = 0; \
uint16_t time_sec = sys_time.nb_sec; \
DOWNLINK_SEND_ROTORCRAFT_STATUS(_trans, _dev, \
&imu_nb_err, \
&twi_blmc_nb_err, \
&radio_control.status, \
&radio_control.frame_rate, \
&fix, \
&time_sec \
); \
}
unsigned short uint16_t
Definition: types.h:16
uint8_t autopilot_mode
Definition: autopilot.c:31
bool_t autopilot_in_flight
Definition: autopilot.c:34
bool_t autopilot_motors_on
Definition: autopilot.c:38
uint8_t vsupply
Definition: electrical.h:8
#define GPS_FIX_NONE
Definition: gps.h:40
unsigned long uint32_t
Definition: types.h:18
struct RadioControl radio_control
Definition: radio_control.c:27
uint8_t guidance_h_mode
Definition: guidance_h.c:39
uint8_t guidance_v_mode
Definition: guidance_v.c:57
unsigned char uint8_t
Definition: types.h:14
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:55
struct Electrical electrical
Definition: electrical.c:16

Definition at line 77 of file telemetry.h.

#define PERIODIC_SEND_ROTORCRAFT_TUNE_HOVER (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_ROTORCRAFT_TUNE_HOVER(_trans, _dev, \
&stabilization_cmd[COMMAND_ROLL], \
&stabilization_cmd[COMMAND_PITCH], \
&stabilization_cmd[COMMAND_YAW], \
&stabilization_cmd[COMMAND_THRUST], \
}
int32_t phi
in rad with INT32_ANGLE_FRAC
struct Ahrs ahrs
global AHRS state (fixed point version)
Definition: ahrs.c:24
int32_t theta
in rad with INT32_ANGLE_FRAC
#define RADIO_PITCH
Definition: spektrum_arch.h:42
struct RadioControl radio_control
Definition: radio_control.c:27
#define RADIO_YAW
Definition: spektrum_arch.h:43
struct Int32Eulers ltp_to_body_euler
Rotation from LocalTangentPlane to body frame as Euler angles.
Definition: ahrs.h:50
struct Int32Eulers ltp_to_imu_euler
Rotation from LocalTangentPlane to IMU frame as Euler angles.
Definition: ahrs.h:45
int32_t psi
in rad with INT32_ANGLE_FRAC
int32_t stabilization_cmd[COMMANDS_NB]
Stabilization commands.
Definition: stabilization.c:28
#define RADIO_ROLL
Definition: spektrum_arch.h:41

Definition at line 726 of file telemetry.h.

#define PERIODIC_SEND_VERT_LOOP (   _trans,
  _dev 
)
Value:
{ \
DOWNLINK_SEND_VERT_LOOP(_trans, _dev, \
}
int32_t guidance_v_z_sp
altitude setpoint in meters (input).
Definition: guidance_v.c:76
int32_t guidance_v_fb_cmd
feed-back command
Definition: guidance_v.c:59
int32_t guidance_v_delta_t
thrust command.
Definition: guidance_v.c:60
int32_t gv_adapt_X
State of the estimator.
struct NedCoor_i ins_ltp_accel
Definition: ins.c:79
int32_t guidance_v_z_sum_err
accumulator for I-gain
Definition: guidance_v.c:86
struct NedCoor_i ins_ltp_pos
Definition: ins.c:77
int32_t gv_adapt_Xmeas
Measurement.
int32_t gv_adapt_P
Covariance.
struct NedCoor_i ins_ltp_speed
Definition: ins.c:78
int32_t guidance_v_zdd_ref
vertical acceleration reference in meter/s^2.
Definition: guidance_v.c:80
int32_t guidance_v_z_ref
altitude reference in meters.
Definition: guidance_v.c:78
int32_t guidance_v_zd_ref
vertical speed reference in meter/s.
Definition: guidance_v.c:79
int32_t guidance_v_zd_sp
vertical speed setpoint in meter/s (input).
Definition: guidance_v.c:77
int32_t guidance_v_ff_cmd
feed-forward command
Definition: guidance_v.c:58

Definition at line 578 of file telemetry.h.

#define PERIODIC_SEND_VFF (   _trans,
  _dev 
)    {}

Definition at line 495 of file telemetry.h.

#define PERIODIC_SEND_WP_MOVED (   _trans,
  _dev 
)
Value:
{ \
static uint8_t i; \
i++; if (i >= nb_waypoint) i = 0; \
DOWNLINK_SEND_WP_MOVED_ENU(_trans, _dev, \
&i, \
&(waypoints[i].x), \
&(waypoints[i].y), \
&(waypoints[i].z)); \
}
unsigned char uint8_t
Definition: types.h:14

Definition at line 710 of file telemetry.h.