radio_control.h File Reference

#include "led.h"
#include "generated/airframe.h"
#include "paparazzi.h"
#include <RADIO_CONTROL_TYPE_H>

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Data Structures
struct	RadioControl

Macros
#define	RC_AVG_PERIOD   8 /* TODO remove if IIR filter is used */
#define	RC_LOST_TIME   30 /* 500ms with a 60Hz timer */
#define	RC_REALLY_LOST_TIME   60 /* ~1s */
#define	RC_OK_CPT   15
#define	RC_OK   0
#define	RC_LOST   1
#define	RC_REALLY_LOST   2
#define	RadioControlValues(_chan)   radio_control.values[_chan]
	For easy access in command_laws. More...

Functions
void	radio_control_impl_init (void)
	Initialization. More...
void	radio_control_init (void)
void	radio_control_periodic_task (void)

Variables
struct RadioControl	radio_control

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Data Structure Documentation

struct RadioControl

Definition at line 52 of file radio_control.h.

Data Fields
uint8_t	frame_cpt
uint8_t	frame_rate
uint8_t	radio_ok_cpt
uint8_t	status
uint8_t	time_since_last_frame
pprz_t	values[RADIO_CONTROL_NB_CHANNEL]

Macro Definition Documentation

#define RadioControlValues

(

_chan

)

radio_control.values[_chan]

For easy access in command_laws.

Definition at line 63 of file radio_control.h.

#define RC_AVG_PERIOD   8 /* TODO remove if IIR filter is used */

Definition at line 42 of file radio_control.h.

#define RC_LOST   1

Definition at line 49 of file radio_control.h.

Referenced by radio_control_periodic_task().

#define RC_LOST_TIME   30 /* 500ms with a 60Hz timer */

Definition at line 43 of file radio_control.h.

Referenced by radio_control_periodic_task().

#define RC_OK   0

Definition at line 48 of file radio_control.h.

Referenced by autopilot_SetModeHandler(), failsafe_check(), guidance_h_read_rc(), guidance_v_run(), intermcu_parse_msg(), radio_control_impl_event(), radio_control_periodic_task(), and RadioControlEventImp().

#define RC_OK_CPT   15

Definition at line 46 of file radio_control.h.

Referenced by radio_control_periodic_task().

#define RC_REALLY_LOST   2

Definition at line 50 of file radio_control.h.

Referenced by failsafe_check(), fbw_safety_check(), radio_control_init(), radio_control_periodic_handle(), and radio_control_periodic_task().

#define RC_REALLY_LOST_TIME   60 /* ~1s */

Definition at line 44 of file radio_control.h.

Referenced by radio_control_init(), and radio_control_periodic_task().

Function Documentation

void radio_control_impl_init

(

void

)

Initialization.

Definition at line 30 of file spektrum_arch.c.

References DefaultPeriodic, gpio_setup_output(), ppm_arch_init(), ppm_cur_pulse, ppm_data_valid, ppm_frame_available, ppm_last_pulse_time, rc_dl_frame_available, RC_POLARITY_GPIO_PIN, RC_POLARITY_GPIO_PORT, RC_SET_POLARITY, rc_spk_parser_idx, rc_spk_parser_status, RC_SPK_STA_UNINIT, register_periodic_telemetry(), SpektrumStateStruct::ReSync, sbus, sbus2, sbus_common_init(), send_ppm(), send_sbus(), spektrum_available, SpektrumTimerInit(), SpektrumUartInit(), and superbitrf_init().

Referenced by radio_control_init().

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void radio_control_init

(

void

)

Definition at line 32 of file radio_control.c.

References RadioControl::frame_cpt, RadioControl::frame_rate, radio_control, radio_control_impl_init(), RADIO_CONTROL_NB_CHANNEL, RadioControl::radio_ok_cpt, RC_REALLY_LOST, RC_REALLY_LOST_TIME, RadioControl::status, RadioControl::time_since_last_frame, and RadioControl::values.

Referenced by init_fbw(), and main_init().

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void radio_control_periodic_task

(

void

)

Definition at line 46 of file radio_control.c.

References RadioControl::frame_cpt, RadioControl::frame_rate, LED_OFF, LED_ON, radio_control, RadioControl::radio_ok_cpt, RC_LOST, RC_LOST_TIME, RC_OK, RC_OK_CPT, RC_REALLY_LOST, RC_REALLY_LOST_TIME, RadioControl::status, and RadioControl::time_since_last_frame.

Referenced by handle_periodic_tasks(), and radio_control_periodic_handle().

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Variable Documentation

struct RadioControl radio_control

Definition at line 30 of file radio_control.c.

Referenced by ap_mode_of_3way_switch(), autopilot_on_rc_frame(), autopilot_SetModeHandler(), failsafe_check(), fbw_on_rc_frame(), fbw_safety_check(), get_rc_pitch(), get_rc_pitch_f(), get_rc_roll(), get_rc_roll_f(), get_rc_yaw(), get_rc_yaw_f(), guidance_h_module_read_rc(), guidance_h_read_rc(), guidance_indi_run(), guidance_v_read_rc(), guidance_v_run(), handle_rc_frame(), intermcu_on_rc_frame(), intermcu_parse_msg(), intermcu_send_status(), percent_from_rc(), px4_set_gimbal_angle_periodic(), radio_control_impl_event(), radio_control_init(), radio_control_periodic_handle(), radio_control_periodic_task(), RadioControlEventImp(), read_rc_setpoint_speed_i(), send_fbw_status(), send_ppm(), send_rc(), send_rotorcraft_rc(), send_sbus(), send_status(), send_tune_hover(), stabilization_indi_calc_cmd(), stabilization_none_read_rc(), stabilization_rate_read_rc(), stabilization_rate_read_rc_switched_sticks(), and update_rc_channel().