autopilot_static.c File Reference

#include "autopilot.h"
#include "firmwares/fixedwing/autopilot_static.h"
#include "inter_mcu.h"
#include "link_mcu.h"
#include "state.h"
#include "firmwares/fixedwing/nav.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "generated/flight_plan.h"
#include "modules/nav/nav_geofence.h"
#include "subsystems/gps.h"
#include "subsystems/datalink/downlink.h"

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Macros
#define	RC_LOST_MODE   AP_MODE_HOME
	mode to enter when RC is lost in AP_MODE_MANUAL or AP_MODE_AUTO1 More...

Functions
static uint8_t	pprz_mode_update (void)
	Update paparazzi mode. More...
static uint8_t	mcu1_status_update (void)
static void	copy_from_to_fbw (void)
	Send back uncontrolled channels. More...
void	autopilot_static_init (void)
	Static autopilot API. More...
void	autopilot_static_periodic (void)
void	autopilot_static_on_rc_frame (void)
	Function to be called when a message from FBW is available. More...
void	autopilot_static_set_mode (uint8_t new_autopilot_mode)
void	autopilot_static_SetModeHandler (float new_autopilot_mode)
void	autopilot_static_set_motors_on (bool motors_on)
void	navigation_task (void)
	Compute desired_course. More...
void	attitude_loop (void)

Variables
static bool	gps_lost
static uint8_t	mcu1_ppm_cpt

Macro Definition Documentation

#define RC_LOST_MODE   AP_MODE_HOME

mode to enter when RC is lost in AP_MODE_MANUAL or AP_MODE_AUTO1

Definition at line 59 of file autopilot_static.c.

Referenced by autopilot_static_on_rc_frame().

Function Documentation

void attitude_loop

(

void

)

Definition at line 272 of file autopilot_static.c.

References AP_MODE_AUTO2, ap_state, autopilot, autopilot_get_mode(), pprz_autopilot::flight_time, h_ctl_aileron_setpoint, h_ctl_attitude_loop(), h_ctl_elevator_setpoint, h_ctl_pitch_setpoint, inter_mcu_received_ap, pprz_autopilot::kill_throttle, pprz_autopilot::launch, link_mcu_send(), MAX_PPRZ, nav_pitch, nav_throttle_setpoint, PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, TRIM_PPRZ, TRIM_UPPRZ, v_ctl_climb_loop(), v_ctl_landing_loop(), v_ctl_mode, V_CTL_MODE_AUTO_CLIMB, V_CTL_MODE_AUTO_THROTTLE, V_CTL_MODE_LANDING, v_ctl_pitch_setpoint, v_ctl_throttle_setpoint, v_ctl_throttle_slew(), v_ctl_throttle_slewed, and vsupply.

Referenced by autopilot_static_periodic(), handle_periodic_tasks_ap(), and sim_periodic_task().

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void autopilot_static_init

(

void

)

Static autopilot API.

Specific function for static AP.

Static autopilot functions.

Todo:

, properly implement or remove

Todo:

: properly implement/fix a triggered attitude loop

Definition at line 90 of file autopilot_static.c.

Referenced by init_ap(), and main_init().

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void autopilot_static_on_rc_frame

(

void

)

Function to be called when a message from FBW is available.

In AUTO1 mode, compute roll setpoint and pitch setpoint from RADIO_ROLL and RADIO_PITCH

Roll is bounded between [-AUTO1_MAX_ROLL;AUTO1_MAX_ROLL]

Pitch is bounded between [-AUTO1_MAX_PITCH;AUTO1_MAX_PITCH]

Else asynchronously set by h_ctl_course_loop()

In AUTO1, throttle comes from RADIO_THROTTLE In MANUAL, the value is copied to get it in the telemetry

else asynchronously set by v_ctl_climb_loop();

Definition at line 112 of file autopilot_static.c.

Referenced by autopilot_on_rc_frame().

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void autopilot_static_periodic

(

void

)

Definition at line 104 of file autopilot_static.c.

Referenced by autopilot_periodic().

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void autopilot_static_set_mode

(

uint8_t

new_autopilot_mode

)

Definition at line 184 of file autopilot_static.c.

Referenced by autopilot_set_mode(), autopilot_static_init(), autopilot_static_on_rc_frame(), autopilot_static_periodic(), and autopilot_static_SetModeHandler().

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void autopilot_static_set_motors_on

(

bool

motors_on

)

Definition at line 196 of file autopilot_static.c.

Referenced by autopilot_set_motors_on().

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void autopilot_static_SetModeHandler

(

float

new_autopilot_mode

)

Definition at line 191 of file autopilot_static.c.

Referenced by autopilot_SetModeHandler().

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static void copy_from_to_fbw ( void  )

inlinestatic

Send back uncontrolled channels.

Definition at line 392 of file autopilot_static.c.

References ap_state, fbw_state, PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, and RADIO_YAW.

Referenced by autopilot_static_on_rc_frame().

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static uint8_t mcu1_status_update ( void  )

inlinestatic

Definition at line 378 of file autopilot_static.c.

References mcu1_status.

Referenced by autopilot_static_on_rc_frame().

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void navigation_task

(

void

)

Compute desired_course.

Control loops FIXME should be somewhere else.

Definition at line 208 of file autopilot_static.c.

References AP_MODE_AUTO2, AP_MODE_GPS_OUT_OF_ORDER, AP_MODE_HOME, autopilot, autopilot_get_mode(), autopilot_send_mode(), autopilot_set_mode(), callTCAS(), common_nav_periodic_task_4Hz(), DefaultChannel, DefaultDevice, gps_lost, h_ctl_auto1_rate, h_ctl_course_loop(), lateral_mode, LATERAL_MODE_COURSE, pprz_autopilot::launch, nav_home(), nav_periodic_task(), nav_without_gps(), SEND_NAVIGATION, v_ctl_altitude_loop(), v_ctl_mode, and V_CTL_MODE_AUTO_ALT.

Referenced by handle_periodic_tasks_ap(), and sim_nav_task().

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static uint8_t pprz_mode_update ( void  )

inlinestatic

Update paparazzi mode.

Definition at line 340 of file autopilot_static.c.

References AP_MODE_AUTO1, AP_MODE_AUTO2, AP_MODE_GPS_OUT_OF_ORDER, AP_MODE_HOME, AP_MODE_MANUAL, AP_MODE_OF_PULSE, autopilot_get_mode(), autopilot_set_mode(), RADIO_MODE, THRESHOLD2, and UNLOCKED_HOME_MODE.

Referenced by autopilot_static_on_rc_frame().

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Variable Documentation

bool gps_lost

static

Definition at line 45 of file autopilot_static.c.

Referenced by autopilot_static_init(), and navigation_task().

uint8_t mcu1_ppm_cpt

static

Definition at line 50 of file autopilot_static.c.

Referenced by autopilot_static_on_rc_frame().