main_ap.c File Reference

#include <inttypes.h>
#include "led.h"
#include "modules/radio_control/radio_control.h"
#include "firmwares/rotorcraft/main_ap.h"
#include "generated/modules.h"
#include "modules/core/abi.h"

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Macros
#define	MODULES_C
#define	ABI_C
#define	SYS_PERIOD   (1.f / PERIODIC_FREQUENCY)
#define	SENSORS_PERIOD   (1.f / PERIODIC_FREQUENCY)
#define	DATALINK_PERIOD   (1.f / TELEMETRY_FREQUENCY)
#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	telemetry_periodic (void)
void	failsafe_check (void)
void	main_event (void)

Variables
tid_t	modules_mcu_core_tid
	IDs for timers. More...
tid_t	modules_sensors_tid
tid_t	modules_radio_control_tid
tid_t	modules_gnc_tid
tid_t	modules_datalink_tid
tid_t	failsafe_tid
	id for failsafe_check() timer FIXME More...

Detailed Description

Rotorcraft main loop.

Definition in file main_ap.c.

Macro Definition Documentation

ABI_C

#define ABI_C

Definition at line 31 of file main_ap.c.

DATALINK_PERIOD

#define DATALINK_PERIOD   (1.f / TELEMETRY_FREQUENCY)

Definition at line 78 of file main_ap.c.

MODULES_C

#define MODULES_C

Definition at line 29 of file main_ap.c.

RC_LOST_MODE

#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 198 of file main_ap.c.

SENSORS_PERIOD

#define SENSORS_PERIOD   (1.f / PERIODIC_FREQUENCY)

Definition at line 77 of file main_ap.c.

SYS_PERIOD

#define SYS_PERIOD   (1.f / PERIODIC_FREQUENCY)

Definition at line 76 of file main_ap.c.

Function Documentation

failsafe_check()

void failsafe_check

(

void

)

Definition at line 201 of file main_ap.c.

Referenced by handle_periodic_tasks(), and main_init().

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handle_periodic_tasks()

void handle_periodic_tasks

(

void

)

Definition at line 128 of file main_ap.c.

main_event()

void main_event ( void  )

inline

Definition at line 246 of file main_ap.c.

main_init()

void main_init ( void  )

inline

Definition at line 80 of file main_ap.c.

telemetry_periodic()

void telemetry_periodic

(

void

)

Definition at line 177 of file main_ap.c.

Referenced by handle_periodic_tasks().

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Variable Documentation

failsafe_tid

tid_t failsafe_tid

id for failsafe_check() timer FIXME

Definition at line 74 of file main_ap.c.

Referenced by handle_periodic_tasks(), and main_init().

modules_datalink_tid

tid_t modules_datalink_tid

Definition at line 73 of file main_ap.c.

modules_gnc_tid

tid_t modules_gnc_tid

Definition at line 72 of file main_ap.c.

modules_mcu_core_tid

tid_t modules_mcu_core_tid

IDs for timers.

Definition at line 69 of file main_ap.c.

modules_radio_control_tid

tid_t modules_radio_control_tid

Definition at line 71 of file main_ap.c.

Referenced by handle_periodic_tasks(), and main_init().

modules_sensors_tid

tid_t modules_sensors_tid

Definition at line 70 of file main_ap.c.