Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
commands.c
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1 /*
2  * Copyright (c) 2006 Pascal Brisset, Antoine Drouin
3  * Copyright (C) 2021 Gautier Hattenberger <gautier.hattenberger@enac.fr>
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, see
19  * <http://www.gnu.org/licenses/>.
20  *
21  */
22 
28 #include "modules/core/commands.h"
29 
30 pprz_t commands[COMMANDS_NB];
31 const pprz_t commands_failsafe[COMMANDS_NB] = COMMANDS_FAILSAFE;
32 
36 
37 #if PERIODIC_TELEMETRY
39 
40 static void send_commands(struct transport_tx *trans, struct link_device *dev)
41 {
42  pprz_msg_send_COMMANDS(trans, dev, AC_ID , COMMANDS_NB, commands);
43 }
44 #endif
45 
46 void commands_init(void)
47 {
48  SetCommands(commands_failsafe);
49 
50 
51 #ifdef COMMAND_ROLL_TRIM
52  command_roll_trim = COMMAND_ROLL_TRIM;
53 #endif
54 #ifdef COMMAND_PITCH_TRIM
55  command_pitch_trim = COMMAND_PITCH_TRIM;
56 #endif
57 #ifdef COMMAND_YAW_TRIM
58  command_yaw_trim = COMMAND_YAW_TRIM;
59 #endif
60 
61 #if PERIODIC_TELEMETRY
63 #endif
64 }
65 
66 
commands_init
void commands_init(void)
Definition: commands.c:46
commands
pprz_t commands[COMMANDS_NB]
Definition: commands.c:30
commands_failsafe
const pprz_t commands_failsafe[COMMANDS_NB]
Definition: commands.c:31
telemetry.h
pprz_t
int16_t pprz_t
Definition: paparazzi.h:6
send_commands
static void send_commands(struct transport_tx *trans, struct link_device *dev)
Definition: commands.c:40
dev
static const struct usb_device_descriptor dev
Definition: usb_ser_hw.c:74
register_periodic_telemetry
int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
Register a telemetry callback function.
Definition: telemetry.c:51
command_pitch_trim
pprz_t command_pitch_trim
Definition: commands.c:34
command_roll_trim
pprz_t command_roll_trim
Definition: commands.c:33
commands.h
Hardware independent code for commands handling.
command_yaw_trim
pprz_t command_yaw_trim
Definition: commands.c:35
DefaultPeriodic
#define DefaultPeriodic
Set default periodic telemetry.
Definition: telemetry.h:66