nps_autopilot_rotorcraft.c File Reference

#include "nps_autopilot.h"
#include "firmwares/rotorcraft/main.h"
#include "nps_sensors.h"
#include "nps_radio_control.h"
#include "nps_electrical.h"
#include "nps_fdm.h"
#include "subsystems/radio_control.h"
#include "subsystems/imu.h"
#include "mcu_periph/sys_time.h"
#include "state.h"
#include "subsystems/ahrs.h"
#include "subsystems/ins.h"
#include "math/pprz_algebra.h"
#include "subsystems/actuators/motor_mixing.h"
#include "subsystems/abi.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/datalink/datalink.h"
#include "subsystems/actuators.h"
#include <stdio.h>
#include "subsystems/gps.h"

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Macros
#define	NPS_BYPASS_AHRS   FALSE
#define	NPS_BYPASS_INS   FALSE

Functions
void	nps_autopilot_init (enum NpsRadioControlType type_rc, int num_rc_script, char *rc_dev)
void	nps_autopilot_run_systime_step (void)
void	nps_autopilot_run_step (double time)
void	sim_overwrite_ahrs (void)
void	sim_overwrite_ins (void)

Variables
struct NpsAutopilot	nps_autopilot
bool	nps_bypass_ahrs
bool	nps_bypass_ins

Macro Definition Documentation

#define NPS_BYPASS_AHRS   FALSE

Definition at line 60 of file nps_autopilot_rotorcraft.c.

Referenced by nps_autopilot_init().

#define NPS_BYPASS_INS   FALSE

Definition at line 64 of file nps_autopilot_rotorcraft.c.

Referenced by nps_autopilot_init().

Function Documentation

void nps_autopilot_init	(	enum NpsRadioControlType	type_rc,
		int	num_rc_script,
		char *	rc_dev
	)

Definition at line 71 of file nps_autopilot_rotorcraft.c.

References NpsAutopilot::launch, main_init(), nps_autopilot, nps_bypass_ahrs, NPS_BYPASS_AHRS, nps_bypass_ins, NPS_BYPASS_INS, nps_electrical_init(), nps_radio_control_init(), and TRUE.

Referenced by nps_radio_and_autopilot_init().

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void nps_autopilot_run_step

(

double

time

)

Definition at line 93 of file nps_autopilot_rotorcraft.c.

References AGL_SONAR_NPS_ID, NpsSensors::airspeed, autopilot_get_motors_on(), NpsSensors::baro, BARO_SIM_SENDER_ID, NpsAutopilot::commands, MotorMixing::commands, DefaultChannel, DefaultDevice, foo, gps_feed_value(), handle_periodic_tasks(), imu_feed_gyro_accel(), imu_feed_mag(), main_event(), MAX_PPRZ, motor_mixing, nps_autopilot, nps_bypass_ahrs, nps_bypass_ins, NPS_COMMANDS_NB, nps_electrical_run_step(), nps_radio_control_available(), nps_sensors_airspeed_available(), nps_sensors_baro_available(), nps_sensors_gps_available(), nps_sensors_gyro_available(), nps_sensors_mag_available(), nps_sensors_sonar_available(), nps_sensors_temperature_available(), sensors, sim_overwrite_ahrs(), sim_overwrite_ins(), NpsSensors::sonar, stateSetAirspeed_f(), NpsSensors::temp, NpsSensorBaro::value, NpsSensorTemperature::value, NpsSensorAirspeed::value, and NpsSensorSonar::value.

Referenced by nps_main_run_sim_step().

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void nps_autopilot_run_systime_step

(

void

)

Definition at line 85 of file nps_autopilot_rotorcraft.c.

References sys_tick_handler().

Referenced by nps_main_run_sim_step().

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void sim_overwrite_ahrs

(

void

)

Definition at line 172 of file nps_autopilot_rotorcraft.c.

References NpsFdm::body_ecef_rotvel, fdm, NpsFdm::ltp_to_body_quat, QUAT_COPY, RATES_COPY, stateSetBodyRates_f(), and stateSetNedToBodyQuat_f().

Referenced by nps_autopilot_run_step().

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void sim_overwrite_ins

(

void

)

Definition at line 185 of file nps_autopilot_rotorcraft.c.

References fdm, NpsFdm::ltpprz_ecef_accel, NpsFdm::ltpprz_ecef_vel, NpsFdm::ltpprz_pos, stateSetAccelNed_f(), stateSetPositionNed_f(), stateSetSpeedNed_f(), and VECT3_COPY.

Referenced by ins_ned_to_state(), and nps_autopilot_run_step().

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Variable Documentation

struct NpsAutopilot nps_autopilot

Definition at line 55 of file nps_autopilot_rotorcraft.c.

Referenced by nps_ap_data_loop(), nps_autopilot_init(), nps_autopilot_run_step(), nps_main_run_sim_step(), and nps_update_launch_from_dl().

bool nps_bypass_ahrs

Definition at line 56 of file nps_autopilot_rotorcraft.c.

Referenced by nps_autopilot_init(), and nps_autopilot_run_step().

bool nps_bypass_ins

Definition at line 57 of file nps_autopilot_rotorcraft.c.

Referenced by ins_ned_to_state(), nps_autopilot_init(), and nps_autopilot_run_step().