Paparazzi UAS  v5.12_stable-4-g9b43e9b
Paparazzi is a free software Unmanned Aircraft System.
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autopilot.h
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1 /*
2  * Copyright (C) 2003 Pascal Brisset, Antoine Drouin
3  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
4  * Copyright (C) 2016-2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
5  *
6  * This file is part of paparazzi.
7  *
8  * paparazzi is free software; you can redistribute it and/or modify
9  * it under the terms of the GNU General Public License as published by
10  * the Free Software Foundation; either version 2, or (at your option)
11  * any later version.
12  *
13  * paparazzi is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16  * GNU General Public License for more details.
17  *
18  * You should have received a copy of the GNU General Public License
19  * along with paparazzi; see the file COPYING. If not, see
20  * <http://www.gnu.org/licenses/>.
21  */
22 
32 #ifndef AUTOPILOT_H
33 #define AUTOPILOT_H
34 
35 #include "std.h"
36 #include "paparazzi.h"
37 #include "generated/airframe.h"
38 #include "state.h"
39 #include "autopilot_utils.h"
40 
41 // include firmware specific header
42 #include "autopilot_firmware.h"
43 
44 // include static or generated autopilot
45 // static version by default
46 #ifndef USE_GENERATED_AUTOPILOT
47 #define USE_GENERATED_AUTOPILOT FALSE
48 #endif
49 
50 #if USE_GENERATED_AUTOPILOT
51 #include "autopilot_generated.h"
52 #else
53 #include "autopilot_static.h"
54 #endif
55 
62  bool motors_on;
64  bool in_flight;
65  bool launch;
66  bool use_rc;
67  bool power_switch;
70 };
71 
72 
75 extern struct pprz_autopilot autopilot;
76 
79 extern void autopilot_init(void);
80 
83 extern void autopilot_periodic(void);
84 
87 extern void autopilot_event(void);
88 
91 extern void autopilot_on_rc_frame(void);
92 
98 extern bool autopilot_set_mode(uint8_t new_autopilot_mode);
99 
102 extern void autopilot_SetModeHandler(float new_autopilot_mode);
103 
108 extern uint8_t autopilot_get_mode(void);
109 
113 extern void autopilot_reset_flight_time(void);
114 #define autopilot_ResetFlightTimeAndLaunch(_) autopilot_reset_flight_time()
115 
121 extern void autopilot_set_motors_on(bool motors_on);
122 
127 extern bool autopilot_get_motors_on(void);
128 
134 extern void autopilot_set_kill_throttle(bool kill);
135 #define autopilot_KillThrottle(_kill) autopilot_set_kill_throttle(_kill)
136 
141 extern bool autopilot_throttle_killed(void);
142 
147 extern void autopilot_check_in_flight(bool motors_on);
148 
153 extern void autopilot_set_in_flight(bool in_flight);
154 
159 extern bool autopilot_in_flight(void);
160 
164 extern void autopilot_reset_in_flight_counter(void);
165 
172 extern void autopilot_set_power_switch(bool power_switch);
173 #define autopilot_SetPowerSwitch(_ps) autopilot_set_power_switch(_ps)
174 
179 extern void autopilot_store_settings(void);
180 #define autopilot_StoreSettings(_) autopilot_store_settings()
181 
186 extern void autopilot_clear_settings(void);
187 #define autopilot_ClearSettings(_) autopilot_clear_settings()
188 
191 extern void autopilot_send_version(void);
192 
195 extern void autopilot_send_mode(void);
196 
197 #endif /* AUTOPILOT_H */
198 
unsigned short uint16_t
Definition: types.h:16
bool launch
request launch
Definition: autopilot.h:65
bool use_rc
enable/disable RC input
Definition: autopilot.h:66
void autopilot_init(void)
Autopilot initialization function.
Definition: autopilot.c:91
bool in_flight
in flight status
Definition: autopilot.h:64
void autopilot_set_in_flight(bool in_flight)
Set in flight status.
Definition: autopilot.c:242
uint16_t flight_time
flight time in seconds
Definition: autopilot.h:61
bool autopilot_set_mode(uint8_t new_autopilot_mode)
Set new autopilot mode.
Definition: autopilot.c:156
bool autopilot_throttle_killed(void)
Get kill status.
Definition: autopilot.c:225
void autopilot_check_in_flight(bool motors_on)
Check if airframe is in flight.
Definition: autopilot.c:233
void autopilot_store_settings(void)
Store marked settings in flash Try to make sure that we don't write to flash while flying Also provid...
Definition: autopilot.c:273
struct pprz_autopilot autopilot
Global autopilot structure.
Definition: autopilot.c:50
void autopilot_reset_in_flight_counter(void)
reset in_flight counter actual implementation is firmware dependent
Definition: autopilot.c:238
bool detect_ground_once
enable automatic detection of ground (one shot)
Definition: autopilot.h:69
bool power_switch
enable/disable power from power switch (if any)
Definition: autopilot.h:67
uint8_t mode_auto2
FIXME hide this in a private part ?
Definition: autopilot.h:60
void autopilot_reset_flight_time(void)
Reset flight time and launch status Also provide macro for dl_setting backward compatibility.
Definition: autopilot.c:186
void autopilot_SetModeHandler(float new_autopilot_mode)
Handler for setter function with dl_setting.
Definition: autopilot.c:168
PPRZ Autopilot structure definition.
Definition: autopilot.h:58
void autopilot_periodic(void)
Autopilot periodic call at PERIODIC_FREQUENCY.
Definition: autopilot.c:130
uint8_t autopilot_get_mode(void)
Get autopilot mode.
Definition: autopilot.c:179
bool motors_on
motor status
Definition: autopilot.h:62
unsigned char uint8_t
Definition: types.h:14
API to get/set the generic vehicle states.
void autopilot_set_power_switch(bool power_switch)
Set power switch state This will actually enable the switch if POWER_SWITCH_GPIO is defined Also prov...
Definition: autopilot.c:259
void autopilot_send_mode(void)
Report autopilot mode on default downlink channel.
Definition: autopilot.c:301
void autopilot_set_motors_on(bool motors_on)
Start or stop motors May have no effect if motors has auto-start based on throttle setpoint...
Definition: autopilot.c:195
void autopilot_set_kill_throttle(bool kill)
Enable or disable motor control from autopilot Also provide macro for dl_setting backward compatibili...
Definition: autopilot.c:214
bool autopilot_get_motors_on(void)
Get motor status.
Definition: autopilot.c:207
void autopilot_on_rc_frame(void)
Autopilot RC input event hadler.
Definition: autopilot.c:145
void autopilot_send_version(void)
Report autopilot version on default downlink channel.
Definition: autopilot.c:293
bool kill_throttle
allow autopilot to use throttle
Definition: autopilot.h:63
bool ground_detected
automatic detection of landing
Definition: autopilot.h:68
uint8_t mode
current autopilot mode
Definition: autopilot.h:59
void autopilot_event(void)
Autopilot event check function.
Definition: autopilot.c:141
bool autopilot_in_flight(void)
Get in flight status.
Definition: autopilot.c:252
void autopilot_clear_settings(void)
Clear marked settings in flash try to make sure that we don't write to flash while flying Also provid...
Definition: autopilot.c:283