Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
intermcu_fbw.h
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1 /*
2  * Copyright (C) 2015 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  *
21  */
22 
27 #ifndef INTERMCU_FBW_ROTORCRAFT_H
28 #define INTERMCU_FBW_ROTORCRAFT_H
29 
30 #include "subsystems/intermcu.h"
31 
32 extern bool autopilot_motors_on;
33 extern pprz_t intermcu_commands[COMMANDS_NB];
34 void intermcu_on_rc_frame(uint8_t fbw_mode);
35 void intermcu_send_status(uint8_t mode);
36 void InterMcuEvent(void (*frame_handler)(void));
37 
38 
39 /* We need radio defines for the Autopilot */
40 #define INTERMCU_RADIO_THROTTLE 0
41 #define INTERMCU_RADIO_ROLL 1
42 #define INTERMCU_RADIO_PITCH 2
43 #define INTERMCU_RADIO_YAW 3
44 #define INTERMCU_RADIO_MODE 4
45 #define INTERMCU_RADIO_KILL_SWITCH 5
46 #define INTERMCU_RADIO_AUX1 5
47 #define INTERMCU_RADIO_AUX2 6
48 #define INTERMCU_RADIO_AUX3 7
49 #define INTERMCU_RADIO_CONTROL_NB_CHANNEL 8
50 
51 #endif /* INTERMCU_FBW_ROTORCRAFT_H */
intermcu_send_status
void intermcu_send_status(uint8_t mode)
Definition: intermcu_fbw.c:139
intermcu_commands
pprz_t intermcu_commands[COMMANDS_NB]
Definition: intermcu_fbw.c:63
intermcu.h
Rotorcraft Inter-MCU interface.
intermcu_on_rc_frame
void intermcu_on_rc_frame(uint8_t fbw_mode)
Definition: intermcu_fbw.c:106
fbw_mode
uint8_t fbw_mode
Definition: main_fbw.c:63
InterMcuEvent
void InterMcuEvent(void(*frame_handler)(void))
Definition: intermcu_fbw.c:199
pprz_t
int16_t pprz_t
Definition: paparazzi.h:6
uint8_t
unsigned char uint8_t
Definition: types.h:14
autopilot_motors_on
bool autopilot_motors_on
Definition: intermcu_fbw.c:64
mode
static uint8_t mode
mode holds the current sonar mode mode = 0 used at high altitude, uses 16 wave patterns mode = 1 used...
Definition: sonar_bebop.c:69