Core autopilot interface common to all firmwares. More...

#include "autopilot.h"
#include "generated/modules.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/gpio.h"
#include "modules/core/commands.h"
#include "modules/datalink/telemetry.h"
#include "modules/core/abi.h"
#include "modules/checks/preflight_checks.h"
#include "modules/core/settings.h"
#include "generated/settings.h"
#include "pprz_version.h"

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Go to the source code of this file.

Macros
#define	AUTOPILOT_RC_ID ABI_BROADCAST

Functions
static void	rc_cb (uint8_t sender_id, struct RadioControl *rc)

static void	send_autopilot_version (struct transport_tx trans, struct link_device dev)

static void	send_alive (struct transport_tx trans, struct link_device dev)

static void	send_attitude (struct transport_tx trans, struct link_device dev)

static void	send_dl_value (struct transport_tx trans, struct link_device dev)

static void	send_minimal_com (struct transport_tx trans, struct link_device dev)

void	autopilot_init (void)
	Autopilot initialization function. More...

void	autopilot_periodic (void)
	AP periodic call. More...

void WEAK	autopilot_event (void)
	AP event call. More...

void	autopilot_on_rc_frame (void)
	RC frame handler. More...

void WEAK	autopilot_failsafe_checks (void)
	Failsafe checks. More...

bool	autopilot_set_mode (uint8_t new_autopilot_mode)
	set autopilot mode More...

void	autopilot_SetModeHandler (float mode)
	AP mode setting handler. More...

uint8_t	autopilot_get_mode (void)
	get autopilot mode More...

void	autopilot_reset_flight_time (void)
	reset flight time and launch More...

void	autopilot_force_motors_on (bool motors_on)
	Force the motors on/off skipping preflight checks. More...

bool	autopilot_set_motors_on (bool motors_on)
	turn motors on/off, eventually depending of the current mode set kill_throttle accordingly FIXME is it true for FW firmware ? More...

bool	autopilot_arming_motors_on (bool motors_on)
	turn motors on/off during arming, not done automatically prevents takeoff with preflight checks More...

bool	autopilot_get_motors_on (void)
	get motors status More...

void	autopilot_set_kill_throttle (bool kill)
	set kill throttle More...

bool	autopilot_throttle_killed (void)
	get kill status More...

void WEAK	autopilot_check_in_flight (bool motors_on)
	in flight check utility function actual implementation is firmware dependent More...

void WEAK	autopilot_reset_in_flight_counter (void)
	reset in_flight counter actual implementation is firmware dependent More...

void	autopilot_set_in_flight (bool in_flight)
	set in_flight flag More...

bool	autopilot_in_flight (void)
	get in_flight flag More...

void	autopilot_store_settings (void)
	store settings More...

void	autopilot_clear_settings (void)
	clear settings More...

void	autopilot_send_version (void)
	send autopilot version More...

void WEAK	autopilot_send_mode (void)
	send autopilot mode actual implementation is firmware dependent More...

Variables
struct pprz_autopilot	autopilot
	Global autopilot structure. More...

static abi_event	rc_ev

Detailed Description

Core autopilot interface common to all firmwares.

Using either static or generated autopilot logic, which depends on the firmware.

Definition in file autopilot.c.

Macro Definition Documentation

◆ AUTOPILOT_RC_ID

#define AUTOPILOT_RC_ID ABI_BROADCAST

Definition at line 52 of file autopilot.c.

Function Documentation

◆ autopilot_arming_motors_on()

bool autopilot_arming_motors_on ( bool motors_on )

turn motors on/off during arming, not done automatically prevents takeoff with preflight checks

Start or stop the motors during arming May not happen when preflight checks are failing.

Definition at line 268 of file autopilot.c.

References autopilot, pprz_autopilot::motors_on, preflight_bypass, and preflight_check().

Referenced by autopilot_arming_check_motors_on().

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◆ autopilot_check_in_flight()

void WEAK autopilot_check_in_flight ( bool motors_on )

in flight check utility function actual implementation is firmware dependent

Check if airframe is in flight.

Definition at line 316 of file autopilot.c.

Referenced by autopilot_periodic().

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◆ autopilot_clear_settings()

void autopilot_clear_settings ( void )

clear settings

Clear marked settings in flash try to make sure that we don't write to flash while flying Also provide macro for dl_setting backward compatibility.

Definition at line 352 of file autopilot.c.

References autopilot, pprz_autopilot::kill_throttle, settings_clear(), and settings_clear_flag.

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◆ autopilot_event()

void WEAK autopilot_event ( void )

AP event call.

Autopilot event check function.

Definition at line 174 of file autopilot.c.

◆ autopilot_failsafe_checks()

void WEAK autopilot_failsafe_checks ( void )

Failsafe checks.

Autopilot periodic failsafe checks.

Definition at line 189 of file autopilot.c.

Referenced by autopilot_periodic(), and main_ap_init().

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◆ autopilot_force_motors_on()

void autopilot_force_motors_on ( bool motors_on )

Force the motors on/off skipping preflight checks.

Force start/stop the motors WARNING This will skip he preflight checks.

Definition at line 232 of file autopilot.c.

References autopilot, autopilot_generated_set_motors_on(), autopilot_static_set_motors_on(), pprz_autopilot::kill_throttle, and pprz_autopilot::motors_on.

Referenced by autopilot_set_motors_on().

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◆ autopilot_get_mode()

uint8_t autopilot_get_mode ( void )

get autopilot mode

Get autopilot mode.

Definition at line 217 of file autopilot.c.

References autopilot, and pprz_autopilot::mode.

Referenced by attitude_loop(), autopilot_arming_check_motors_on(), autopilot_arming_check_valid(), autopilot_arming_set(), autopilot_failsafe_checks(), autopilot_guided_goto_body_relative(), autopilot_guided_goto_ned(), autopilot_guided_goto_ned_relative(), autopilot_guided_move_ned(), autopilot_guided_parse_GUIDED(), autopilot_static_on_rc_frame(), cam_periodic(), collective_tracking_control(), distributed_circular(), generic_com_periodic(), guidance_flip_enter(), gvf_low_level_control_2D(), gvf_parametric_low_level_control_2D(), gvf_parametric_low_level_control_3D(), h_ctl_pitch_loop(), h_ctl_roll_loop(), mavlink_common_message_handler(), mavlink_send_heartbeat(), navigation_task(), NavKillThrottle(), NavResurrect(), periodic_auto1_commands(), pprz_mode_update(), send_fbw_status(), send_mode(), stabilization_opticflow_vel_cb(), v_ctl_set_pitch(), v_ctl_set_throttle(), and vPoint().

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◆ autopilot_get_motors_on()

bool autopilot_get_motors_on ( void )

get motors status

Get motor status.

Definition at line 290 of file autopilot.c.

References autopilot, and pprz_autopilot::motors_on.

Referenced by actuators_ardrone_motor_status(), actuators_bebop_commit(), actuators_esc32_commit(), autopilot_arming_check_motors_on(), autopilot_failsafe_checks(), autopilot_periodic(), get_act_state_oneloop(), hott_check_serial_data(), hott_update_eam_msg(), hott_update_gam_msg(), intermcu_send_commands(), mavlink_common_message_handler(), nav_takeoff_run(), nps_autopilot_run_step(), sdlogger_spi_direct_periodic(), stabilization_attitude_run(), stabilization_indi_rate_run(), and throttle_curve_run().

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◆ autopilot_in_flight()

bool autopilot_in_flight ( void )

get in_flight flag

Get in flight status.

Definition at line 335 of file autopilot.c.

References autopilot, and pprz_autopilot::in_flight.

Referenced by autopilot_generated_periodic(), autopilot_periodic(), autopilot_static_on_rc_frame(), autopilot_static_periodic(), e_identification_fr_periodic(), ekf_aw_wrapper_periodic(), guidance_flip_run(), ins_ekf2_publish_attitude(), ins_ekf2_update(), ins_flow_update(), mav_exercise_periodic(), nav_is_in_flight(), and orange_avoider_periodic().

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◆ autopilot_init()

void autopilot_init ( void )

Autopilot initialization function.

Definition at line 107 of file autopilot.c.

References autopilot, autopilot_firmware_init(), autopilot_generated_init(), AUTOPILOT_RC_ID, autopilot_static_init(), DefaultPeriodic, pprz_autopilot::detect_ground_once, pprz_autopilot::flight_time, pprz_autopilot::ground_detected, pprz_autopilot::in_flight, pprz_autopilot::kill_throttle, pprz_autopilot::mode_auto2, MODE_AUTO2, pprz_autopilot::motors_on, rc_cb(), rc_ev, register_periodic_telemetry(), send_alive(), send_attitude(), send_autopilot_version(), send_dl_value(), send_minimal_com(), pprz_autopilot::throttle, and pprz_autopilot::use_rc.

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◆ autopilot_on_rc_frame()

void autopilot_on_rc_frame ( void )

RC frame handler.

Autopilot RC input event hadler.

Definition at line 178 of file autopilot.c.

References autopilot_generated_on_rc_frame(), and autopilot_static_on_rc_frame().

Referenced by rc_cb().

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◆ autopilot_periodic()

void autopilot_periodic ( void )

AP periodic call.

Autopilot periodic call at PERIODIC_FREQUENCY.

Definition at line 146 of file autopilot.c.

References autopilot, autopilot_check_in_flight(), autopilot_failsafe_checks(), autopilot_generated_periodic(), autopilot_get_motors_on(), autopilot_in_flight(), autopilot_static_periodic(), and pprz_autopilot::flight_time.

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◆ autopilot_reset_flight_time()

void autopilot_reset_flight_time ( void )

reset flight time and launch

Reset flight time and launch status Also provide macro for dl_setting backward compatibility.

Definition at line 224 of file autopilot.c.

References autopilot, pprz_autopilot::flight_time, and pprz_autopilot::launch.

◆ autopilot_reset_in_flight_counter()

void WEAK autopilot_reset_in_flight_counter ( void )

reset in_flight counter actual implementation is firmware dependent

Definition at line 321 of file autopilot.c.

Referenced by autopilot_set_in_flight().

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◆ autopilot_send_mode()

void WEAK autopilot_send_mode ( void )

send autopilot mode actual implementation is firmware dependent

Report autopilot mode on default downlink channel.

Definition at line 370 of file autopilot.c.

Referenced by autopilot_failsafe_checks().

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◆ autopilot_send_version()

void autopilot_send_version ( void )

send autopilot version

Report autopilot version on default downlink channel.

Definition at line 362 of file autopilot.c.

References DefaultChannel, DefaultDevice, and send_autopilot_version().

Referenced by telemetry_reporting_task().

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◆ autopilot_set_in_flight()

void autopilot_set_in_flight ( bool in_flight )

set in_flight flag

Set in flight status.

Definition at line 325 of file autopilot.c.

References autopilot, autopilot_reset_in_flight_counter(), and pprz_autopilot::in_flight.

Referenced by autopilot_arming_check_motors_on(), autopilot_static_set_mode(), and nav_takeoff_run().

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◆ autopilot_set_kill_throttle()

void autopilot_set_kill_throttle ( bool kill )

set kill throttle

Enable or disable motor control from autopilot Also provide macro for dl_setting backward compatibility.

Definition at line 297 of file autopilot.c.

References autopilot_set_motors_on().

Referenced by actuators_disco_commit(), autopilot_failsafe_checks(), nav_bungee_takeoff_run(), nav_bungee_takeoff_setup(), and nav_skid_landing_run().

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◆ autopilot_set_mode()

bool autopilot_set_mode ( uint8_t new_autopilot_mode )

set autopilot mode

Set new autopilot mode.

Definition at line 193 of file autopilot.c.

References autopilot, autopilot_generated_set_mode(), autopilot_static_set_mode(), pprz_autopilot::mode, and mode.

Referenced by autopilot_failsafe_checks(), guidance_flip_run(), mavlink_common_message_handler(), nav_set_failsafe(), and pprz_mode_update().

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◆ autopilot_set_motors_on()

bool autopilot_set_motors_on ( bool motors_on )

turn motors on/off, eventually depending of the current mode set kill_throttle accordingly FIXME is it true for FW firmware ?

Start or stop motors May have no effect if motors has auto-start based on throttle setpoint or when the preflight checks are failing.

Definition at line 245 of file autopilot.c.

References autopilot, autopilot_force_motors_on(), pprz_autopilot::motors_on, preflight_bypass, and preflight_check().

Referenced by actuators_ardrone_motor_status(), actuators_bebop_commit(), autopilot_set_kill_throttle(), autopilot_static_set_mode(), mavlink_common_message_handler(), nav_takeoff_run(), NavKillThrottle(), and NavResurrect().

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◆ autopilot_SetModeHandler()

void autopilot_SetModeHandler ( float mode )

AP mode setting handler.

Handler for setter function with dl_setting.

Definition at line 206 of file autopilot.c.

References autopilot_generated_SetModeHandler(), autopilot_static_SetModeHandler(), and mode.

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◆ autopilot_store_settings()

void autopilot_store_settings ( void )

store settings

Store marked settings in flash Try to make sure that we don't write to flash while flying Also provide macro for dl_setting backward compatibility.

Definition at line 342 of file autopilot.c.

References autopilot, pprz_autopilot::kill_throttle, settings_store(), and settings_store_flag.

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◆ autopilot_throttle_killed()

bool autopilot_throttle_killed ( void )

get kill status

Get kill status.

Definition at line 308 of file autopilot.c.

References autopilot, and pprz_autopilot::kill_throttle.

Referenced by electrical_periodic(), geo_mag_periodic(), mavlink_send_heartbeat(), nav_skid_landing_run(), v_ctl_climb_loop(), and v_ctl_landing_loop().

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◆ rc_cb()

static void rc_cb	(	uint8_t	sender_id,
		struct RadioControl *	rc
	)

static

Definition at line 57 of file autopilot.c.

References autopilot_on_rc_frame().

Referenced by autopilot_init().

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◆ send_alive()

static void send_alive	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 71 of file autopilot.c.

References dev.

Referenced by autopilot_init().

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◆ send_attitude()

static void send_attitude	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 76 of file autopilot.c.

References dev, FloatEulers::phi, FloatEulers::psi, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by autopilot_init().

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◆ send_autopilot_version()

static void send_autopilot_version	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 64 of file autopilot.c.

References dev.

Referenced by autopilot_init(), and autopilot_send_version().

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◆ send_dl_value()

static void send_dl_value	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 82 of file autopilot.c.

References dev.

Referenced by autopilot_init().

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◆ send_minimal_com()

static void send_minimal_com	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 87 of file autopilot.c.

References UtmCoor_f::alt, autopilot, course, dev, electrical, GpsState::fix, pprz_autopilot::flight_time, gps, MAX_PPRZ, pprz_autopilot::mode, nav_block, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionLla_f(), stateGetPositionUtm_f(), stateGetSpeedEnu_f(), pprz_autopilot::throttle, Electrical::vsupply, and EnuCoor_f::z.

Referenced by autopilot_init().

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Variable Documentation

◆ autopilot

struct pprz_autopilot autopilot

Global autopilot structure.

Definition at line 1 of file autopilot.c.

Referenced by attitude_loop(), autopilot_arming_check_motors_on(), autopilot_arming_check_valid(), autopilot_arming_motors_on(), autopilot_check_in_flight(), autopilot_clear_settings(), autopilot_event(), autopilot_failsafe_checks(), autopilot_force_motors_on(), autopilot_generated_init(), autopilot_generated_on_rc_frame(), autopilot_generated_periodic(), autopilot_generated_set_mode(), autopilot_generated_set_motors_on(), autopilot_get_mode(), autopilot_get_motors_on(), autopilot_in_flight(), autopilot_init(), autopilot_periodic(), autopilot_reset_flight_time(), autopilot_set_in_flight(), autopilot_set_mode(), autopilot_set_motors_on(), autopilot_static_init(), autopilot_static_on_rc_frame(), autopilot_static_periodic(), autopilot_static_set_mode(), autopilot_static_set_motors_on(), autopilot_store_settings(), autopilot_throttle_killed(), calc_flight_time_left(), draw_osd(), Drift_correction(), e_identification_fr_periodic(), gazebo_write(), generic_com_periodic(), gsm_send_report_continue(), guidance_h_module_enter(), guidance_h_module_read_rc(), h_ctl_course_loop(), h_ctl_pitch_loop(), h_ctl_roll_loop(), main_recovery_init(), mf_daq_send_state(), monitor_task(), nav_bungee_takeoff_run(), nav_catapult_highrate_module(), nav_check_wp_time(), nav_detect_ground(), nav_home(), nav_takeoff_run(), nps_autopilot_run_step(), oneloop_andi_run(), parse_mf_daq_msg(), rotwing_check_set_current_state(), send_energy(), send_fp(), send_minimal_com(), send_mode(), send_status(), uav_recovery_periodic(), v_ctl_climb_loop(), v_ctl_guidance_loop(), v_ctl_set_pitch(), and v_ctl_set_throttle().

◆ rc_ev

abi_event rc_ev

static

Definition at line 55 of file autopilot.c.

Referenced by autopilot_init().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ AUTOPILOT_RC_ID

Function Documentation

◆ autopilot_arming_motors_on()

◆ autopilot_check_in_flight()

◆ autopilot_clear_settings()

◆ autopilot_event()

◆ autopilot_failsafe_checks()

◆ autopilot_force_motors_on()

◆ autopilot_get_mode()

◆ autopilot_get_motors_on()

◆ autopilot_in_flight()

◆ autopilot_init()

◆ autopilot_on_rc_frame()

◆ autopilot_periodic()

◆ autopilot_reset_flight_time()

◆ autopilot_reset_in_flight_counter()

◆ autopilot_send_mode()

◆ autopilot_send_version()

◆ autopilot_set_in_flight()

◆ autopilot_set_kill_throttle()

◆ autopilot_set_mode()

◆ autopilot_set_motors_on()

◆ autopilot_SetModeHandler()

◆ autopilot_store_settings()

◆ autopilot_throttle_killed()

◆ rc_cb()

◆ send_alive()

◆ send_attitude()

◆ send_autopilot_version()

◆ send_dl_value()

◆ send_minimal_com()

Variable Documentation

◆ autopilot

◆ rc_ev