main_ap.c File Reference

Rotorcraft main loop. More...

#include <inttypes.h>
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "subsystems/datalink/telemetry.h"
#include "subsystems/datalink/datalink.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/settings.h"
#include "subsystems/commands.h"
#include "subsystems/actuators.h"
#include "subsystems/imu.h"
#include "subsystems/gps.h"
#include "subsystems/electrical.h"
#include "autopilot.h"
#include "subsystems/radio_control.h"
#include "subsystems/ahrs.h"
#include "state.h"
#include "firmwares/rotorcraft/main_ap.h"
#include "generated/modules.h"
#include "subsystems/abi.h"
#include "subsystems/navigation/waypoints.h"

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Macros
#define	MODULES_C
#define	ABI_C
#define	BARO_PERIODIC_FREQUENCY   50
#define	RC_LOST_MODE   AP_MODE_FAILSAFE
	mode to enter when RC is lost while using a mode with RC input (not AP_MODE_NAV) More...

Functions
void	main_init (void)
void	handle_periodic_tasks (void)
void	main_periodic (void)
void	telemetry_periodic (void)
void	failsafe_check (void)
void	main_event (void)

Variables
tid_t	main_periodic_tid
	id for main_periodic() timer More...
tid_t	modules_tid
	id for modules_periodic_task() timer More...
tid_t	failsafe_tid
	id for failsafe_check() timer More...
tid_t	radio_control_tid
	id for radio_control_periodic_task() timer More...
tid_t	electrical_tid
	id for electrical_periodic() timer More...
tid_t	telemetry_tid
	id for telemetry_periodic() timer More...

Detailed Description

Rotorcraft main loop.

Definition in file main_ap.c.

Macro Definition Documentation

#define ABI_C

Definition at line 31 of file main_ap.c.

#define BARO_PERIODIC_FREQUENCY   50

Definition at line 95 of file main_ap.c.

Referenced by init_ap(), and main_init().

#define MODULES_C

Definition at line 29 of file main_ap.c.

#define RC_LOST_MODE   AP_MODE_FAILSAFE

mode to enter when RC is lost while using a mode with RC input (not AP_MODE_NAV)

Definition at line 284 of file main_ap.c.

Referenced by failsafe_check().

Function Documentation

void failsafe_check

(

void

)

Definition at line 287 of file main_ap.c.

References AP_MODE_FAILSAFE, AP_MODE_FLIP, AP_MODE_GUIDED, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_MODULE, AP_MODE_NAV, autopilot_check_in_flight(), autopilot_get_mode(), autopilot_get_motors_on(), autopilot_set_mode(), Electrical::bat_critical, electrical, GpsIsLost, radio_control, RC_LOST_MODE, RC_OK, RC_REALLY_LOST, and RadioControl::status.

Referenced by handle_periodic_tasks(), and main_init().

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void handle_periodic_tasks

(

void

)

Definition at line 200 of file main_ap.c.

void main_event ( void  )

inline

Definition at line 329 of file main_ap.c.

void main_init ( void  )

inline

Definition at line 116 of file main_ap.c.

void main_periodic ( void  )

inline

Definition at line 235 of file main_ap.c.

Referenced by handle_periodic_tasks().

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void telemetry_periodic

(

void

)

Definition at line 263 of file main_ap.c.

Referenced by handle_periodic_tasks().

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Variable Documentation

tid_t electrical_tid

id for electrical_periodic() timer

Definition at line 110 of file main_ap.c.

tid_t failsafe_tid

id for failsafe_check() timer

Definition at line 108 of file main_ap.c.

tid_t main_periodic_tid

id for main_periodic() timer

Definition at line 106 of file main_ap.c.

tid_t modules_tid

id for modules_periodic_task() timer

Definition at line 107 of file main_ap.c.

tid_t radio_control_tid

id for radio_control_periodic_task() timer

Definition at line 109 of file main_ap.c.

tid_t telemetry_tid

id for telemetry_periodic() timer

Definition at line 111 of file main_ap.c.