autopilot_rc_helpers.h File Reference

Some helper functions to check RC sticks. More...

#include "generated/airframe.h"
#include "subsystems/radio_control.h"

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Macros
#define	AUTOPILOT_THROTTLE_THRESHOLD   (MAX_PPRZ / 20)
#define	AUTOPILOT_YAW_THRESHOLD   (MAX_PPRZ * 19 / 20)
#define	AUTOPILOT_STICK_CENTER_THRESHOLD   (MAX_PPRZ * 1 / 20)
#define	THROTTLE_STICK_DOWN()   (radio_control.values[RADIO_THROTTLE] < AUTOPILOT_THROTTLE_THRESHOLD)
#define	YAW_STICK_PUSHED()
#define	YAW_STICK_CENTERED()
#define	PITCH_STICK_CENTERED()
#define	ROLL_STICK_CENTERED()

Functions
static bool	rc_mode_switch (uint8_t chan, uint8_t pos, uint8_t max)
	RC mode switch position helper switch positions threshold are evenly spaced. More...
static bool	rc_attitude_sticks_centered (void)
	Convenience macro for 3way switch. More...
static bool	kill_switch_is_on (void)
static uint8_t	percent_from_rc (int channel)

Detailed Description

Some helper functions to check RC sticks.

Definition in file autopilot_rc_helpers.h.

Macro Definition Documentation

#define AUTOPILOT_STICK_CENTER_THRESHOLD   (MAX_PPRZ * 1 / 20)

Definition at line 37 of file autopilot_rc_helpers.h.

#define AUTOPILOT_THROTTLE_THRESHOLD   (MAX_PPRZ / 20)

Definition at line 34 of file autopilot_rc_helpers.h.

#define AUTOPILOT_YAW_THRESHOLD   (MAX_PPRZ * 19 / 20)

Definition at line 35 of file autopilot_rc_helpers.h.

#define PITCH_STICK_CENTERED

(

)

Value:

(radio_control.values[RADIO_PITCH] < AUTOPILOT_STICK_CENTER_THRESHOLD && \
   radio_control.values[RADIO_PITCH] > -AUTOPILOT_STICK_CENTER_THRESHOLD)

Definition at line 48 of file autopilot_rc_helpers.h.

Referenced by autopilot_arming_check_motors_on(), and rc_attitude_sticks_centered().

#define ROLL_STICK_CENTERED

(

)

Value:

(radio_control.values[RADIO_ROLL] < AUTOPILOT_STICK_CENTER_THRESHOLD && \
   radio_control.values[RADIO_ROLL] > -AUTOPILOT_STICK_CENTER_THRESHOLD)

Definition at line 51 of file autopilot_rc_helpers.h.

Referenced by autopilot_arming_check_motors_on(), and rc_attitude_sticks_centered().

#define THROTTLE_STICK_DOWN

(

)

(radio_control.values[RADIO_THROTTLE] < AUTOPILOT_THROTTLE_THRESHOLD)

Definition at line 40 of file autopilot_rc_helpers.h.

Referenced by autopilot_arming_check_motors_on(), stabilization_attitude_read_rc_setpoint_eulers(), stabilization_attitude_read_rc_setpoint_eulers_f(), stabilization_rate_read_rc(), and stabilization_rate_read_rc_switched_sticks().

#define YAW_STICK_CENTERED

(

)

Value:

(radio_control.values[RADIO_YAW] < AUTOPILOT_STICK_CENTER_THRESHOLD && \
   radio_control.values[RADIO_YAW] > -AUTOPILOT_STICK_CENTER_THRESHOLD)

Definition at line 45 of file autopilot_rc_helpers.h.

Referenced by autopilot_arming_check_motors_on(), and rc_attitude_sticks_centered().

#define YAW_STICK_PUSHED

(

)

Value:

(radio_control.values[RADIO_YAW] > AUTOPILOT_YAW_THRESHOLD ||  \
   radio_control.values[RADIO_YAW] < -AUTOPILOT_YAW_THRESHOLD)

Definition at line 42 of file autopilot_rc_helpers.h.

Referenced by autopilot_arming_check_motors_on().

Function Documentation

static bool kill_switch_is_on ( void  )

inlinestatic

Definition at line 97 of file autopilot_rc_helpers.h.

Referenced by autopilot_arming_check_motors_on(), and autopilot_static_on_rc_frame().

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static uint8_t percent_from_rc ( int  channel )

inlinestatic

Definition at line 103 of file autopilot_rc_helpers.h.

References MAX_PPRZ, radio_control, and RadioControl::values.

static bool rc_attitude_sticks_centered ( void  )

inlinestatic

Convenience macro for 3way switch.

Definition at line 82 of file autopilot_rc_helpers.h.

References PITCH_STICK_CENTERED, ROLL_STICK_CENTERED, and YAW_STICK_CENTERED.

Referenced by autopilot_arming_check_motors_on().

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static bool rc_mode_switch ( uint8_t  chan, uint8_t  pos, uint8_t  max  )

inlinestatic

RC mode switch position helper switch positions threshold are evenly spaced.

Parameters

[in]	chan	RC mode channel number
[in]	pos	switch position to be tested
[in]	max	maximum number of position of the switch

Returns

true if current position is the same as requested (and RC status is OK)

Definition at line 63 of file autopilot_rc_helpers.h.

References MAX_PPRZ, MIN_PPRZ, p, radio_control, RC_OK, RadioControl::status, and RadioControl::values.