Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
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supervision.h
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1 /*
2  * Copyright (C) 2008-2012 The Paparazzi Team
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 
28 #ifndef SUPERVISION_H
29 #define SUPERVISION_H
30 
31 #include "std.h"
32 #include "generated/airframe.h"
33 
34 struct Supervision {
35  int32_t commands[SUPERVISION_NB_MOTOR];
36  int32_t trim[SUPERVISION_NB_MOTOR];
37  bool_t override_enabled[SUPERVISION_NB_MOTOR];
38  int32_t override_value[SUPERVISION_NB_MOTOR];
40 };
41 
42 extern struct Supervision supervision;
43 
44 extern void supervision_init(void);
45 extern void supervision_run(bool_t motors_on, bool_t override_on, int32_t in_cmd[]);
46 extern void supervision_run_spinup(uint32_t counter, uint32_t max_counter);
47 
48 #endif /* SUPERVISION_H */
bool_t override_enabled[SUPERVISION_NB_MOTOR]
Definition: supervision.h:37
struct Supervision supervision
Definition: supervision.c:66
uint32_t nb_failure
Definition: supervision.h:39
unsigned long uint32_t
Definition: types.h:18
void supervision_init(void)
Definition: supervision.c:68
void supervision_run_spinup(uint32_t counter, uint32_t max_counter)
Definition: supervision.c:120
signed long int32_t
Definition: types.h:19
int32_t trim[SUPERVISION_NB_MOTOR]
Definition: supervision.h:36
int32_t commands[SUPERVISION_NB_MOTOR]
Definition: supervision.h:35
int32_t override_value[SUPERVISION_NB_MOTOR]
Definition: supervision.h:38
void supervision_run(bool_t motors_on, bool_t override_on, int32_t in_cmd[])
Definition: supervision.c:142