vi.h File Reference

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "autopilot.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/guidance.h"
#include "firmwares/rotorcraft/navigation.h"

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Data Structures
struct	Vi_imu_info
struct	Vi_gps_info
struct	Vi_ahrs_info
struct	Vi_info
struct	Vi_command
struct	VehicleInterface
union	Vi_command.h_sp
union	Vi_command.v_sp

Macros
#define	vi_SetEnabled(_val)

Functions
void	vi_init (void)
void	vi_set_enabled (bool enabled)
void	vi_periodic (void)
void	vi_update_info (void)
void	vi_notify_imu_available (void)
void	vi_notify_mag_available (void)
void	vi_notify_gps_available (void)
void	vi_notify_baro_abs_available (void)
void	vi_impl_init (void)
void	vi_impl_periodic (void)
void	vi_impl_set_enabled (bool enabled)

Variables
struct VehicleInterface	vi

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Data Structure Documentation

struct Vi_imu_info

Definition at line 36 of file vi.h.

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Data Fields
struct Int16Vect3	accel
struct Int16Vect3	gyro
struct Int16Vect3	mag

struct Vi_gps_info

Definition at line 42 of file vi.h.

Collaboration diagram for Vi_gps_info:

Data Fields
uint8_t	fix
uint8_t	num_sv
int32_t	pacc
struct Int32Vect3	pos
struct Int16Vect3	speed

struct Vi_ahrs_info

Definition at line 50 of file vi.h.

Collaboration diagram for Vi_ahrs_info:

Data Fields
struct Int16Eulers	euler
struct Int16Eulers	rate

struct Vi_info

Definition at line 55 of file vi.h.

Collaboration diagram for Vi_info:

Data Fields
struct Vi_ahrs_info	ahrs
struct Vi_gps_info	gps
struct Vi_imu_info	imu

struct Vi_command

Definition at line 61 of file vi.h.

Data Fields
uint8_t	h_mode
union Vi_command	h_sp
uint8_t	v_mode
union Vi_command	v_sp

struct VehicleInterface

Definition at line 77 of file vi.h.

Collaboration diagram for VehicleInterface:

Data Fields
uint8_t	available_sensors
bool	enabled
struct Vi_info	info
struct Vi_command	input
uint8_t	last_msg
bool	timeouted

union Vi_command.h_sp

Definition at line 62 of file vi.h.

Data Fields
struct Int32Eulers	attitude
struct Int32Vect3	pos
struct Int32Vect3	rate
struct Int32Vect3	speed

union Vi_command.v_sp

Definition at line 68 of file vi.h.

Data Fields
int32_t	climb
int32_t	direct
int32_t	height

Macro Definition Documentation

#define vi_SetEnabled

(

_val

)

Value:

{     \
    vi.enabled = _val;        \
    vi_set_enabled(_val);     \
  }

Definition at line 104 of file vi.h.

Function Documentation

void vi_impl_init

(

void

)

Definition at line 24 of file vi_datalink.c.

Referenced by vi_init().

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void vi_impl_periodic

(

void

)

Definition at line 28 of file vi_datalink.c.

Referenced by vi_periodic().

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void vi_impl_set_enabled

(

bool

enabled

)

Definition at line 32 of file vi_datalink.c.

Referenced by vi_set_enabled().

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void vi_init

(

void

)

Definition at line 36 of file vi.c.

References VehicleInterface::enabled, GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_V_MODE_CLIMB, Vi_command::h_mode, Vi_command::h_sp, VehicleInterface::input, INT_EULERS_ZERO, VehicleInterface::last_msg, VehicleInterface::timeouted, Vi_command::v_mode, Vi_command::v_sp, vi, vi_impl_init(), and VI_TIMEOUT.

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void vi_notify_baro_abs_available

(

void

)

void vi_notify_gps_available

(

void

)

void vi_notify_imu_available

(

void

)

void vi_notify_mag_available

(

void

)

void vi_periodic

(

void

)

Definition at line 51 of file vi.c.

References GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_V_MODE_CLIMB, Vi_command::h_mode, Vi_command::h_sp, VehicleInterface::input, INT_EULERS_ZERO, VehicleInterface::last_msg, VehicleInterface::timeouted, Vi_command::v_mode, Vi_command::v_sp, vi, vi_impl_periodic(), and VI_TIMEOUT.

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void vi_set_enabled

(

bool

enabled

)

Definition at line 67 of file vi.c.

References vi_impl_set_enabled().

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void vi_update_info

(

void

)

Definition at line 73 of file vi.c.

Variable Documentation

struct VehicleInterface vi

Definition at line 30 of file vi.c.

Referenced by vi_init(), vi_periodic(), and vi_update_wp().