Paparazzi UAS  v7.0_unstable
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Data Structures | Functions | Variables
copilot.h File Reference

Mission Computer module, interfacing the mission computer (also known as Copilot), based losely on ISaAC: The Intelligent Safety and Airworthiness Co-Pilot module Based on paper "A Payload Verification and Management Framework for Small UAV-based Personal Remote Sensing Systems" by Cal Coopmans and Chris Coffin. More...

#include "modules/datalink/datalink.h"
#include "modules/datalink/extra_pprz_dl.h"
#include "pprz_mutex.h"
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Data Structures

struct  CameraPayload
 
struct  CameraSnapshot
 
struct  CopilotStatus
 

Functions

 PPRZ_MUTEX_DECL (copilot_cam_snapshot_mtx)
 
 PPRZ_MUTEX_DECL (copilot_cam_payload_mtx)
 
 PPRZ_MUTEX_DECL (copilot_status_mtx)
 
void copilot_init (void)
 Init function. More...
 
void copilot_periodic (void)
 Periodic function. More...
 
void copilot_parse_cam_snapshot_dl (uint8_t *buf)
 Message processing functions. More...
 
void copilot_parse_cam_payload_dl (uint8_t *buf)
 copy CAMERA_PAYLOAD message and mark it to be sent More...
 
void copilot_parse_copilot_status_dl (uint8_t *buf)
 copy COPILOT_STATUS message and mark it to be sent More...
 
void copilot_parse_move_wp_dl (uint8_t *buf)
 If MOVE_WP from GCS. More...
 
void copilot_parse_payload_command_dl (uint8_t *buf)
 Pass through PAYLOAD_COMMAND message and send it as PAYLOAD msg over telemetry. More...
 

Variables

bool send_cam_snapshot
 
bool send_cam_payload
 
bool send_copilot_status
 

Detailed Description

Mission Computer module, interfacing the mission computer (also known as Copilot), based losely on ISaAC: The Intelligent Safety and Airworthiness Co-Pilot module Based on paper "A Payload Verification and Management Framework for Small UAV-based Personal Remote Sensing Systems" by Cal Coopmans and Chris Coffin.

Link: http://ieeexplore.ieee.org/abstract/document/6309316/

More info can be found on http://wiki.paparazziuav.org/wiki/Mission_computer

Copilot is intended mainly for mapping applications.

This module processes messages from Copilot, and either forwards them to the GCS (such as CAMERA_SNAPSHOT or CAMERA_PAYLOAD messages), or responds to them as necessary (such as MOVE_WP).

The module assumes the source of the messages is trusted (i.e. not authentication besides AC_ID check is performed).

Definition in file copilot.h.

Data Structure Documentation

◆ CameraPayload

struct CameraPayload

Definition at line 55 of file copilot.h.

Data Fields
uint8_t door_status
uint8_t error_code
float timestamp
uint8_t used_disk
uint8_t used_mem

◆ CameraSnapshot

struct CameraSnapshot

Definition at line 63 of file copilot.h.

Data Fields
float array_temp
uint16_t cam_id
uint8_t cam_state
float lens_temp
uint16_t snapshot_num
uint8_t snapshot_valid

◆ CopilotStatus

struct CopilotStatus

Definition at line 72 of file copilot.h.

Data Fields
uint8_t error_code
uint8_t status
float timestamp
uint8_t used_disk
uint8_t used_mem

Function Documentation

◆ copilot_init()

void copilot_init ( void  )

Init function.

Definition at line 60 of file copilot_common.c.

References cam_payload, cam_snapshot, copilot_status, PPRZ_MUTEX_INIT, send_cam_payload, send_cam_snapshot, and send_copilot_status.

◆ copilot_parse_cam_payload_dl()

void copilot_parse_cam_payload_dl ( uint8_t *  buf)

copy CAMERA_PAYLOAD message and mark it to be sent

Definition at line 147 of file copilot_common.c.

References cam_payload, CameraPayload::door_status, CameraPayload::error_code, PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, send_cam_payload, CameraPayload::timestamp, CameraPayload::used_disk, and CameraPayload::used_mem.

◆ copilot_parse_cam_snapshot_dl()

void copilot_parse_cam_snapshot_dl ( uint8_t *  buf)

Message processing functions.

Message processing functions.

In case of multiple cameras, it is up to the payload computer to send CAMERA_SNAPSHOT messages for each camera at proper interval, so the values don't get overwritten.

Definition at line 127 of file copilot_common.c.

References CameraSnapshot::array_temp, CameraSnapshot::cam_id, cam_snapshot, CameraSnapshot::cam_state, CameraSnapshot::lens_temp, PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, send_cam_snapshot, CameraSnapshot::snapshot_num, and CameraSnapshot::snapshot_valid.

◆ copilot_parse_copilot_status_dl()

void copilot_parse_copilot_status_dl ( uint8_t *  buf)

copy COPILOT_STATUS message and mark it to be sent

Definition at line 165 of file copilot_common.c.

References copilot_status, CopilotStatus::error_code, PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, send_copilot_status, CopilotStatus::status, CopilotStatus::timestamp, CopilotStatus::used_disk, and CopilotStatus::used_mem.

◆ copilot_parse_move_wp_dl()

void copilot_parse_move_wp_dl ( uint8_t *  buf)

If MOVE_WP from GCS.

  • processed in firmware_parse_msg(dev, trans, buf); with regular buffer
  • reponse over telemetry (regular buffer)
  • here send WP_MOVED over extra_dl

If MOVE_WP from extra_dl

  • processed in firmware_parse_msg(dev, trans, buf); with extra buffer
  • response over extra_dl
  • send an update to GCS

In both cases, the MOVE_WP message was already processed in firmware_parse here we are taking care only about propagating the change

Definition at line 67 of file copilot_fixedwing.c.

References LlaCoor_f::alt, UtmCoor_f::alt, LlaCoor_i::alt, DefaultChannel, DefaultDevice, dl_buffer, UtmCoor_f::east, extra_dl_buffer, extra_pprz_tp, LlaCoor_f::lat, LlaCoor_i::lat, LlaCoor_f::lon, LlaCoor_i::lon, nav_utm_east0, nav_utm_north0, nav_utm_zone0, nb_waypoint, UtmCoor_f::north, stateGetHmslOrigin_i(), stateGetLlaOrigin_i(), stateIsLocalCoordinateValid(), utm_of_lla_f(), waypoint_is_global(), waypoints, point::x, point::y, and UtmCoor_f::zone.

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◆ copilot_parse_payload_command_dl()

void copilot_parse_payload_command_dl ( uint8_t *  buf)

Pass through PAYLOAD_COMMAND message and send it as PAYLOAD msg over telemetry.

Definition at line 184 of file copilot_common.c.

References DefaultChannel, DefaultDevice, dl_buffer, extra_dl_buffer, and extra_pprz_tp.

◆ copilot_periodic()

void copilot_periodic ( void  )

Periodic function.

Definition at line 76 of file copilot_common.c.

References CameraSnapshot::array_temp, CameraSnapshot::cam_id, cam_payload, cam_snapshot, CameraSnapshot::cam_state, copilot_status, DefaultChannel, DefaultDevice, CameraPayload::door_status, CameraPayload::error_code, CopilotStatus::error_code, CameraSnapshot::lens_temp, PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, send_cam_payload, send_cam_snapshot, send_copilot_status, CameraSnapshot::snapshot_num, CameraSnapshot::snapshot_valid, CopilotStatus::status, CameraPayload::timestamp, CopilotStatus::timestamp, CameraPayload::used_disk, CopilotStatus::used_disk, CameraPayload::used_mem, and CopilotStatus::used_mem.

◆ PPRZ_MUTEX_DECL() [1/3]

PPRZ_MUTEX_DECL ( copilot_cam_payload_mtx  )

◆ PPRZ_MUTEX_DECL() [2/3]

PPRZ_MUTEX_DECL ( copilot_cam_snapshot_mtx  )

◆ PPRZ_MUTEX_DECL() [3/3]

PPRZ_MUTEX_DECL ( copilot_status_mtx  )

Variable Documentation

◆ send_cam_payload

bool send_cam_payload
extern

Definition at line 48 of file copilot_common.c.

Referenced by copilot_init(), copilot_parse_cam_payload_dl(), and copilot_periodic().

◆ send_cam_snapshot

bool send_cam_snapshot
extern

Definition at line 47 of file copilot_common.c.

Referenced by copilot_init(), copilot_parse_cam_snapshot_dl(), and copilot_periodic().

◆ send_copilot_status

bool send_copilot_status
extern

Definition at line 49 of file copilot_common.c.

Referenced by copilot_init(), copilot_parse_copilot_status_dl(), and copilot_periodic().