56#define CTC_GAIN_K1 0.001
59#define CTC_GAIN_K2 0.001
62#define CTC_GAIN_ALPHA 0.01
66#define CTC_TIMEOUT 1500
74#define CTC_TIME_BROAD 100
78 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
CTC_OMEGA,
CTC_TIME_BROAD
103#if PERIODIC_TELEMETRY
296 msg.component_id = 0;
304 if (ac_id ==
AC_ID) {
uint8_t autopilot_get_mode(void)
get autopilot mode
Core autopilot interface common to all firmwares.
uint32_t get_sys_time_msec(void)
Get the time in milliseconds since startup.
struct point waypoints[NB_WAYPOINT]
size == nb_waypoint, waypoint 0 is a dummy waypoint
bool collective_tracking_vehicle()
static void send_ctc_control(struct transport_tx *trans, struct link_device *dev)
uint32_t last_transmision
void collective_tracking_control()
bool collective_tracking_waypoint(uint8_t wp)
static void send_ctc(struct transport_tx *trans, struct link_device *dev)
uint32_t last_info[CTC_MAX_AC]
int16_t tableNei[CTC_MAX_AC][6]
bool collective_tracking_point(float x, float y)
Collective Tracking Control.
void parse_ctc_NeiInfoTable(uint8_t *buf)
void parse_ctc_TargetInfo(uint8_t *buf)
void ctc_send_info_to_nei(void)
void parse_ctc_RegTable(uint8_t *buf)
void parse_ctc_CleanTable(uint8_t *buf)
#define LATERAL_MODE_ROLL
Fixed wing horizontal control.
static struct FloatEulers * stateGetNedToBodyEulers_f(void)
Get vehicle body attitude euler angles (float).
static struct EnuCoor_f * stateGetPositionEnu_f(void)
Get position in local ENU coordinates (float).
static struct EnuCoor_f * stateGetSpeedEnu_f(void)
Get ground speed in local ENU coordinates (float).
uint8_t msg[10]
Buffer used for general comunication over SPI (out buffer)
vector in East North Up coordinates Units: meters
float h_ctl_roll_max_setpoint
float h_ctl_roll_setpoint
static const struct usb_device_descriptor dev
int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
Register a telemetry callback function.
Periodic telemetry system header (includes downlink utility and generated code).
#define DefaultPeriodic
Set default periodic telemetry.
unsigned short uint16_t
Typedef defining 16 bit unsigned short type.
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
short int16_t
Typedef defining 16 bit short type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.