main_ap.c File Reference

#include <inttypes.h>
#include "led.h"
#include "modules/radio_control/radio_control.h"
#include "firmwares/rover/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)
	Main initialization. More...
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	modules_default_tid
tid_t	failsafe_tid
	id for failsafe_check() timer FIXME More...

Detailed Description

Rover main loop.

Definition in file main_ap.c.

Macro Definition Documentation

ABI_C

#define ABI_C

Definition at line 30 of file main_ap.c.

DATALINK_PERIOD

#define DATALINK_PERIOD   (1.f / TELEMETRY_FREQUENCY)

Definition at line 74 of file main_ap.c.

MODULES_C

#define MODULES_C

Definition at line 28 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 185 of file main_ap.c.

SENSORS_PERIOD

#define SENSORS_PERIOD   (1.f / PERIODIC_FREQUENCY)

Definition at line 73 of file main_ap.c.

SYS_PERIOD

#define SYS_PERIOD   (1.f / PERIODIC_FREQUENCY)

Definition at line 72 of file main_ap.c.

Function Documentation

failsafe_check()

void failsafe_check

(

void

)

Definition at line 188 of file main_ap.c.

References AP_MODE_FAILSAFE, AP_MODE_FLIP, AP_MODE_GUIDED, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_MODULE, AP_MODE_NAV, autopilot_check_in_flight(), autopilot_get_mode(), autopilot_get_motors_on(), autopilot_set_mode(), Electrical::bat_critical, datalink_time, electrical, GpsIsLost, radio_control, RC_LOST_MODE, RC_OK, RC_REALLY_LOST, and RadioControl::status.

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handle_periodic_tasks()

void handle_periodic_tasks

(

void

)

Definition at line 122 of file main_ap.c.

References autopilot, autopilot_get_mode(), autopilot_in_flight(), commands, datalink_time, failsafe_check(), failsafe_tid, pprz_autopilot::flight_time, intermcu_set_actuators(), LED_PERIODIC, modules_datalink_tid, modules_gnc_tid, modules_mcu_core_tid, modules_radio_control_tid, modules_sensors_tid, radio_control_periodic_task(), sys_time_check_and_ack_timer(), TELEMETRY_FREQUENCY, telemetry_periodic(), and throttle_curve_run().

Referenced by main(), nps_autopilot_run_step(), thd_ap(), and thd_fbw().

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main_event()

void main_event ( void  )

inline

Definition at line 193 of file main_ap.c.

References autopilot, autopilot_on_rc_frame(), RadioControlEvent, and pprz_autopilot::use_rc.

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main_init()

void main_init ( void  )

inline

Main initialization.

Definition at line 76 of file main_ap.c.

References Imu::body_to_imu, DATALINK_PERIOD, f, failsafe_check(), failsafe_tid, imu, modules_datalink_tid, modules_gnc_tid, modules_mcu_core_tid, modules_radio_control_tid, modules_sensors_tid, orientationGetQuat_f(), radio_control_init(), SENSORS_PERIOD, SYS_PERIOD, sys_time_register_timer(), and sys_time_register_timer_offset().

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telemetry_periodic()

void telemetry_periodic

(

void

)

Definition at line 164 of file main_ap.c.

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

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Variable Documentation

failsafe_tid

tid_t failsafe_tid

id for failsafe_check() timer FIXME

Definition at line 70 of file main_ap.c.

modules_datalink_tid

tid_t modules_datalink_tid

Definition at line 68 of file main_ap.c.

modules_default_tid

tid_t modules_default_tid

Definition at line 69 of file main_ap.c.

modules_gnc_tid

tid_t modules_gnc_tid

Definition at line 67 of file main_ap.c.

modules_mcu_core_tid

tid_t modules_mcu_core_tid

IDs for timers.

Definition at line 64 of file main_ap.c.

modules_radio_control_tid

tid_t modules_radio_control_tid

Definition at line 66 of file main_ap.c.

modules_sensors_tid

tid_t modules_sensors_tid

Definition at line 65 of file main_ap.c.