main_ap.c File Reference

#include <math.h>
#include "firmwares/fixedwing/main_ap.h"
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "modules/intermcu/inter_mcu.h"
#include "modules/intermcu/link_mcu.h"
#include "generated/airframe.h"
#include "generated/modules.h"
#include "modules/core/abi.h"
#include "led.h"

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Macros
#define	MODULES_C
#define	ABI_C
#define	COMMAND_ROLL_TRIM   0
#define	COMMAND_PITCH_TRIM   0
#define	COMMAND_YAW_TRIM   0
#define	TELEMETRY_FREQUENCY   60
#define	SYS_PERIOD   (1.f / PERIODIC_FREQUENCY)
#define	SENSORS_PERIOD   (1.f / PERIODIC_FREQUENCY)
#define	DATALINK_PERIOD   (1.f / TELEMETRY_FREQUENCY)

Functions
void	init_ap (void)
void	handle_periodic_tasks_ap (void)
void	reporting_task (void)
	Send a series of initialisation messages followed by a stream of periodic ones. More...
void	event_task_ap (void)

Variables
tid_t	modules_mcu_core_tid
	IDs for timers. More...
tid_t	modules_sensors_tid
tid_t	modules_gnc_tid
tid_t	modules_datalink_tid

Detailed Description

AP ( AutoPilot ) tasks

This process is reponsible for the collecting the different sensors data, calling the appropriate estimation algorithms and running the different control loops.

Definition in file main_ap.c.

Macro Definition Documentation

ABI_C

#define ABI_C

Definition at line 33 of file main_ap.c.

COMMAND_PITCH_TRIM

#define COMMAND_PITCH_TRIM   0

Definition at line 59 of file main_ap.c.

COMMAND_ROLL_TRIM

#define COMMAND_ROLL_TRIM   0

Definition at line 55 of file main_ap.c.

COMMAND_YAW_TRIM

#define COMMAND_YAW_TRIM   0

Definition at line 63 of file main_ap.c.

DATALINK_PERIOD

#define DATALINK_PERIOD   (1.f / TELEMETRY_FREQUENCY)

Definition at line 102 of file main_ap.c.

MODULES_C

#define MODULES_C

Definition at line 31 of file main_ap.c.

SENSORS_PERIOD

#define SENSORS_PERIOD   (1.f / PERIODIC_FREQUENCY)

Definition at line 101 of file main_ap.c.

SYS_PERIOD

#define SYS_PERIOD   (1.f / PERIODIC_FREQUENCY)

Definition at line 100 of file main_ap.c.

TELEMETRY_FREQUENCY

#define TELEMETRY_FREQUENCY   60

Definition at line 77 of file main_ap.c.

Function Documentation

event_task_ap()

void event_task_ap

(

void

)

Definition at line 213 of file main_ap.c.

References autopilot_on_rc_frame(), inter_mcu_received_fbw, and link_mcu_event_task().

Referenced by sim_periodic_task().

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handle_periodic_tasks_ap()

void handle_periodic_tasks_ap

(

void

)

Definition at line 157 of file main_ap.c.

References datalink_time, LED_PERIODIC, modules_datalink_tid, modules_gnc_tid, modules_mcu_core_tid, modules_sensors_tid, reporting_task(), sys_time_check_and_ack_timer(), and TELEMETRY_FREQUENCY.

Referenced by sim_periodic_task().

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init_ap()

void init_ap

(

void

)

Definition at line 104 of file main_ap.c.

References ap_state, Imu::body_to_imu, COMMAND_PITCH_TRIM, COMMAND_ROLL_TRIM, COMMAND_YAW_TRIM, DATALINK_PERIOD, f, imu, modules_datalink_tid, modules_gnc_tid, modules_mcu_core_tid, modules_sensors_tid, orientationGetQuat_f(), PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, SENSORS_PERIOD, SYS_PERIOD, sys_time_register_timer(), and sys_time_register_timer_offset().

Referenced by sim_init().

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reporting_task()

void reporting_task

(

void

)

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

Definition at line 192 of file main_ap.c.

References autopilot_send_version(), DefaultChannel, DefaultDevice, and DefaultPeriodic.

Referenced by handle_periodic_tasks_ap().

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Variable Documentation

modules_datalink_tid

tid_t modules_datalink_tid

Definition at line 98 of file main_ap.c.

Referenced by handle_periodic_tasks(), handle_periodic_tasks_ap(), init_ap(), and main_init().

modules_gnc_tid

tid_t modules_gnc_tid

Definition at line 97 of file main_ap.c.

Referenced by handle_periodic_tasks(), handle_periodic_tasks_ap(), init_ap(), and main_init().

modules_mcu_core_tid

tid_t modules_mcu_core_tid

IDs for timers.

Definition at line 94 of file main_ap.c.

Referenced by handle_periodic_tasks(), handle_periodic_tasks_ap(), init_ap(), and main_init().

modules_sensors_tid

tid_t modules_sensors_tid

Definition at line 95 of file main_ap.c.

Referenced by handle_periodic_tasks(), handle_periodic_tasks_ap(), init_ap(), and main_init().