Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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main_ap.h File Reference

AP ( AutoPilot ) process API. More...

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Functions

void init_ap (void)
 
void handle_periodic_tasks_ap (void)
 
void event_task_ap (void)
 
void sensors_task (void)
 Run at PERIODIC_FREQUENCY (60Hz if not defined) More...
 
void navigation_task (void)
 Compute desired_course. More...
 
void monitor_task (void)
 monitor stuff run at 1Hz More...
 
void reporting_task (void)
 Send a series of initialisation messages followed by a stream of periodic ones. More...
 
void attitude_loop (void)
 

Detailed Description

AP ( AutoPilot ) process API.

Definition in file main_ap.h.

Function Documentation

void event_task_ap ( void  )

Definition at line 667 of file main_ap.c.

References attitude_loop(), BaroEvent, DatalinkEvent, FALSE, GpsEvent, i2c_event(), ImuEvent, inter_mcu_received_fbw, link_mcu_event_task(), on_accel_event(), on_gps_solution(), on_gyro_event(), on_mag_event(), and telecommand_task().

Referenced by sim_periodic_task().

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void handle_periodic_tasks_ap ( void  )

Definition at line 286 of file main_ap.c.

References attitude_loop(), baro_periodic(), LED_PERIODIC, monitor_task(), navigation_task(), reporting_task(), sensors_task(), and sys_time_check_and_ack_timer().

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void monitor_task ( void  )

monitor stuff run at 1Hz

Definition at line 640 of file main_ap.c.

References autopilot_flight_time, CATASTROPHIC_BAT_KILL_DELAY, datalink_time, DefaultChannel, DefaultDevice, dist2_to_home, KILL_MODE_DISTANCE, kill_throttle, launch, MIN_SPEED_FOR_TAKEOFF, sys_time::nb_sec, Square, stateGetHorizontalSpeedNorm_f(), TRUE, and vsupply.

Referenced by handle_periodic_tasks_ap(), and sim_monitor_task().

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void reporting_task ( void  )

Send a series of initialisation messages followed by a stream of periodic ones.

Called at 60Hz.

initialisation phase during boot

then report periodicly

Definition at line 460 of file main_ap.c.

References DefaultChannel, DefaultDevice, FALSE, and TRUE.

Referenced by handle_periodic_tasks_ap(), and sim_periodic_task().

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void sensors_task ( void  )

Run at PERIODIC_FREQUENCY (60Hz if not defined)

Definition at line 599 of file main_ap.c.

References ahrs_propagate(), gps_periodic_check(), imu_periodic(), and ins_periodic().

Referenced by handle_periodic_tasks_ap(), and sim_periodic_task().

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