Autopilot modes. More...

#include "std.h"
#include "generated/airframe.h"
#include "state.h"
#include "subsystems/settings.h"
#include "pprzlink/pprzlink_transport.h"

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Macros
#define	AP_MODE_KILL 0

#define	AP_MODE_FAILSAFE 1

#define	AP_MODE_HOME 2

#define	AP_MODE_RATE_DIRECT 3

#define	AP_MODE_ATTITUDE_DIRECT 4

#define	AP_MODE_RATE_RC_CLIMB 5

#define	AP_MODE_ATTITUDE_RC_CLIMB 6

#define	AP_MODE_ATTITUDE_CLIMB 7

#define	AP_MODE_RATE_Z_HOLD 8

#define	AP_MODE_ATTITUDE_Z_HOLD 9

#define	AP_MODE_HOVER_DIRECT 10

#define	AP_MODE_HOVER_CLIMB 11

#define	AP_MODE_HOVER_Z_HOLD 12

#define	AP_MODE_NAV 13

#define	AP_MODE_RC_DIRECT 14

#define	AP_MODE_CARE_FREE_DIRECT 15

#define	AP_MODE_FORWARD 16

#define	AP_MODE_MODULE 17

#define	AP_MODE_FLIP 18

#define	AP_MODE_GUIDED 19

#define	MODE_MANUAL AP_MODE_ATTITUDE_DIRECT
	Default RC mode. More...

#define	MODE_AUTO1 AP_MODE_HOVER_Z_HOLD

#define	MODE_AUTO2 AP_MODE_NAV

#define	autopilot_KillThrottle(_kill)

#define	autopilot_SetPowerSwitch(_v)

#define	SetRotorcraftCommands(_cmd, _in_flight,_motor_on)
	Set Rotorcraft commands. More...

#define	THRESHOLD_GROUND_DETECT 25.0
	Z-acceleration threshold to detect ground in m/s^2. More...

Functions
void	autopilot_init (void)
	Autopilot inititalization. More...

void	autopilot_periodic (void)

void	autopilot_on_rc_frame (void)
	Get autopilot mode from two 2way switches. More...

void	autopilot_set_mode (uint8_t new_autopilot_mode)

void	autopilot_SetModeHandler (float new_autopilot_mode)
	AP mode setting handler. More...

void	autopilot_set_motors_on (bool motors_on)

void	autopilot_check_in_flight (bool motors_on)

static void	DetectGroundEvent (void)
	Ground detection based on vertical acceleration. More...

static void	autopilot_StoreSettings (float store)

static void	autopilot_ClearSettings (float clear)

void	send_autopilot_version (struct transport_tx trans, struct link_device dev)

bool	autopilot_guided_goto_ned (float x, float y, float z, float heading)
	Set position and heading setpoints in GUIDED mode. More...

bool	autopilot_guided_goto_ned_relative (float dx, float dy, float dz, float dyaw)
	Set position and heading setpoints wrt. More...

bool	autopilot_guided_goto_body_relative (float dx, float dy, float dz, float dyaw)
	Set position and heading setpoints wrt. More...

bool	autopilot_guided_move_ned (float vx, float vy, float vz, float heading)
	Set velocity and heading setpoints in GUIDED mode. More...

void	autopilot_guided_update (uint8_t flags, float x, float y, float z, float yaw)
	Set guided setpoints using flag mask in GUIDED mode. More...

Variables
uint8_t	autopilot_mode

uint8_t	autopilot_mode_auto2

bool	autopilot_motors_on

bool	autopilot_in_flight

bool	kill_throttle

bool	autopilot_rc

bool	autopilot_power_switch

bool	autopilot_ground_detected

bool	autopilot_detect_ground_once

uint16_t	autopilot_flight_time
	flight time in seconds. More...

Detailed Description

Autopilot modes.

Definition in file autopilot.h.

Macro Definition Documentation

#define AP_MODE_ATTITUDE_CLIMB 7

Definition at line 43 of file autopilot.h.

Referenced by autopilot_set_mode(), and mavlink_send_heartbeat().

#define AP_MODE_ATTITUDE_DIRECT 4

Definition at line 40 of file autopilot.h.

Referenced by autopilot_set_mode(), and mavlink_send_heartbeat().

#define AP_MODE_ATTITUDE_RC_CLIMB 6

Definition at line 42 of file autopilot.h.

Referenced by autopilot_set_mode(), and mavlink_send_heartbeat().

#define AP_MODE_ATTITUDE_Z_HOLD 9

Definition at line 45 of file autopilot.h.

Referenced by autopilot_set_mode(), and mavlink_send_heartbeat().

#define AP_MODE_CARE_FREE_DIRECT 15

Definition at line 51 of file autopilot.h.

Referenced by autopilot_set_mode(), and mavlink_send_heartbeat().

#define AP_MODE_FAILSAFE 1

Definition at line 37 of file autopilot.h.

Referenced by autopilot_arming_check_motors_on(), autopilot_arming_set(), autopilot_on_rc_frame(), autopilot_periodic(), autopilot_set_mode(), autopilot_SetModeHandler(), DetectGroundEvent(), and failsafe_check().

#define AP_MODE_FLIP 18

Definition at line 54 of file autopilot.h.

Referenced by autopilot_set_mode(), autopilot_SetModeHandler(), and failsafe_check().

#define AP_MODE_FORWARD 16

Definition at line 52 of file autopilot.h.

Referenced by autopilot_set_mode().

#define AP_MODE_GUIDED 19

Definition at line 55 of file autopilot.h.

Referenced by autopilot_guided_goto_body_relative(), autopilot_guided_goto_ned(), autopilot_guided_goto_ned_relative(), autopilot_guided_move_ned(), autopilot_guided_update(), autopilot_set_mode(), autopilot_SetModeHandler(), failsafe_check(), mavlink_common_message_handler(), and mavlink_send_heartbeat().

#define AP_MODE_HOME 2

Definition at line 38 of file autopilot.h.

Referenced by autopilot_on_rc_frame(), autopilot_periodic(), autopilot_set_mode(), autopilot_SetModeHandler(), failsafe_check(), and mavlink_send_heartbeat().

#define AP_MODE_HOVER_CLIMB 11

Definition at line 47 of file autopilot.h.

Referenced by autopilot_set_mode(), and mavlink_send_heartbeat().

#define AP_MODE_HOVER_DIRECT 10

Definition at line 46 of file autopilot.h.

Referenced by autopilot_set_mode(), and mavlink_send_heartbeat().

#define AP_MODE_HOVER_Z_HOLD 12

Definition at line 48 of file autopilot.h.

Referenced by autopilot_set_mode(), and mavlink_send_heartbeat().

#define AP_MODE_KILL 0

Definition at line 36 of file autopilot.h.

Referenced by autopilot_arming_check_motors_on(), autopilot_arming_set(), autopilot_init(), autopilot_on_rc_frame(), autopilot_periodic(), autopilot_set_mode(), autopilot_set_motors_on(), autopilot_SetModeHandler(), and failsafe_check().

#define AP_MODE_MODULE 17

Definition at line 53 of file autopilot.h.

Referenced by autopilot_set_mode(), autopilot_SetModeHandler(), failsafe_check(), and stabilization_opticflow_vel_cb().

#define AP_MODE_NAV 13

Definition at line 49 of file autopilot.h.

Referenced by autopilot_on_rc_frame(), autopilot_periodic(), autopilot_set_mode(), autopilot_SetModeHandler(), failsafe_check(), mavlink_common_message_handler(), and mavlink_send_heartbeat().

#define AP_MODE_RATE_DIRECT 3

Definition at line 39 of file autopilot.h.

Referenced by autopilot_set_mode(), and mavlink_send_heartbeat().

#define AP_MODE_RATE_RC_CLIMB 5

Definition at line 41 of file autopilot.h.

Referenced by autopilot_set_mode(), and mavlink_send_heartbeat().

#define AP_MODE_RATE_Z_HOLD 8

Definition at line 44 of file autopilot.h.

Referenced by autopilot_set_mode(), and mavlink_send_heartbeat().

#define AP_MODE_RC_DIRECT 14

Definition at line 50 of file autopilot.h.

Referenced by autopilot_set_mode(), and mavlink_send_heartbeat().

#define autopilot_KillThrottle ( _kill )

Value:

{ \
    if (_kill)                          \
      autopilot_set_motors_on(FALSE);   \
    else                                \
      autopilot_set_motors_on(TRUE);    \
  }

Definition at line 92 of file autopilot.h.

#define autopilot_SetPowerSwitch ( _v )

Value:

{  \
    autopilot_power_switch = _v;        \
  }

Definition at line 107 of file autopilot.h.

#define MODE_AUTO1 AP_MODE_HOVER_Z_HOLD

Definition at line 85 of file autopilot.h.

Referenced by ap_mode_of_3way_switch().

#define MODE_AUTO2 AP_MODE_NAV

Definition at line 88 of file autopilot.h.

Referenced by autopilot_init().

#define MODE_MANUAL AP_MODE_ATTITUDE_DIRECT

Default RC mode.

Definition at line 82 of file autopilot.h.

Referenced by ap_mode_of_3way_switch(), autopilot_arming_check_motors_on(), autopilot_arming_set(), and autopilot_on_rc_frame().

#define SetRotorcraftCommands	(	_cmd,
		_in_flight,
		_motor_on
	)

Value:

{ \
    if (!(_in_flight)) { _cmd[COMMAND_YAW] = 0; }               \
    if (!(_motor_on)) { _cmd[COMMAND_THRUST] = 0; }             \
    commands[COMMAND_ROLL] = _cmd[COMMAND_ROLL];                \
    commands[COMMAND_PITCH] = _cmd[COMMAND_PITCH];              \
    commands[COMMAND_YAW] = _cmd[COMMAND_YAW];                  \
    commands[COMMAND_THRUST] = _cmd[COMMAND_THRUST];            \
  }

Set Rotorcraft commands.

Limit thrust and/or yaw depending of the in_flight and motors_on flag status

Definition at line 126 of file autopilot.h.

Referenced by autopilot_periodic().

#define THRESHOLD_GROUND_DETECT 25.0

Z-acceleration threshold to detect ground in m/s^2.

Definition at line 147 of file autopilot.h.

Referenced by DetectGroundEvent().

Function Documentation

void autopilot_check_in_flight ( bool motors_on )

Definition at line 669 of file autopilot.c.

References autopilot_in_flight, autopilot_in_flight_counter, AUTOPILOT_IN_FLIGHT_MIN_ACCEL, AUTOPILOT_IN_FLIGHT_MIN_SPEED, AUTOPILOT_IN_FLIGHT_MIN_THRUST, AUTOPILOT_IN_FLIGHT_TIME, stabilization_cmd, stateGetAccelNed_f(), and stateGetSpeedNed_f().

Referenced by failsafe_check().

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static void autopilot_ClearSettings ( float clear )

inlinestatic

Definition at line 174 of file autopilot.h.

References kill_throttle, settings_clear(), and settings_clear_flag.

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bool autopilot_guided_goto_body_relative	(	float	dx,
		float	dy,
		float	dz,
		float	dyaw
	)

Set position and heading setpoints wrt.

current position AND heading in GUIDED mode.

Parameters

dx	relative position (body frame, forward) in meters.
dy	relative position (body frame, right) in meters.
dz	relative position (body frame, down) in meters.
dyaw	Offset relative to current heading setpoint in radians.

Returns: TRUE if setpoint was set (currently in AP_MODE_GUIDED)

Definition at line 573 of file autopilot.c.

References AP_MODE_GUIDED, autopilot_guided_goto_ned(), autopilot_mode, heading, FloatEulers::psi, stateGetNedToBodyEulers_f(), stateGetPositionNed_f(), stateIsLocalCoordinateValid(), NedCoor_f::x, NedCoor_f::y, and NedCoor_f::z.

Referenced by mavlink_common_message_handler().

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bool autopilot_guided_goto_ned	(	float	x,
		float	y,
		float	z,
		float	heading
	)

Set position and heading setpoints in GUIDED mode.

Parameters

x	North position (local NED frame) in meters.
y	East position (local NED frame) in meters.
z	Down position (local NED frame) in meters.
heading	Setpoint in radians.

Returns: TRUE if setpoint was set (currently in AP_MODE_GUIDED)

Definition at line 550 of file autopilot.c.

References AP_MODE_GUIDED, autopilot_mode, guidance_h_set_guided_heading(), guidance_h_set_guided_pos(), and guidance_v_set_guided_z().

Referenced by autopilot_guided_goto_body_relative(), autopilot_guided_goto_ned_relative(), and mavlink_common_message_handler().

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bool autopilot_guided_goto_ned_relative	(	float	dx,
		float	dy,
		float	dz,
		float	dyaw
	)

Set position and heading setpoints wrt.

current position in GUIDED mode.

Parameters

dx	Offset relative to current north position (local NED frame) in meters.
dy	Offset relative to current east position (local NED frame) in meters.
dz	Offset relative to current down position (local NED frame) in meters.
dyaw	Offset relative to current heading setpoint in radians.

Returns: TRUE if setpoint was set (currently in AP_MODE_GUIDED)

Definition at line 561 of file autopilot.c.

References AP_MODE_GUIDED, autopilot_guided_goto_ned(), autopilot_mode, heading, FloatEulers::psi, stateGetNedToBodyEulers_f(), stateGetPositionNed_f(), stateIsLocalCoordinateValid(), NedCoor_f::x, NedCoor_f::y, and NedCoor_f::z.

Referenced by mavlink_common_message_handler().

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bool autopilot_guided_move_ned	(	float	vx,
		float	vy,
		float	vz,
		float	heading
	)

Set velocity and heading setpoints in GUIDED mode.

Parameters

vx	North velocity (local NED frame) in meters/sec.
vy	East velocity (local NED frame) in meters/sec.
vz	Down velocity (local NED frame) in meters/sec.
heading	Setpoint in radians.

Returns: TRUE if setpoint was set (currently in AP_MODE_GUIDED)

Definition at line 586 of file autopilot.c.

References AP_MODE_GUIDED, autopilot_mode, guidance_h_set_guided_heading(), guidance_h_set_guided_vel(), and guidance_v_set_guided_vz().

Referenced by mavlink_common_message_handler().

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void autopilot_guided_update	(	uint8_t	flags,
		float	x,
		float	y,
		float	z,
		float	yaw
	)

Set guided setpoints using flag mask in GUIDED mode.

Parameters

flags	Bits 0-3 are used to determine the axis system to be used. If bits 0 and 1 are clear then the coordinates are set in absolute NE coordinates. If bit 1 is set bit 0 is ignored. Bits 5-7 define whether the setpoints should be used as position or velocity. Bit flags are defined as follows: bit 0: x,y as offset coordinates bit 1: x,y in body coordinates bit 2: z as offset coordinates bit 3: yaw as offset coordinates bit 4: free bit 5: x,y as vel bit 6: z as vel bit 7: yaw as rate
x	North position/velocity in meters or meters/sec.
y	East position/velocity in meters or meters/sec.
z	Down position/velocity in meters or meters/sec.
yaw	Heading or heading rate setpoint in radians or radians/sec.