Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
glide_wing_lock.c File Reference
#include "modules/glide_wing_lock/glide_wing_lock.h"
#include "pprzlink/messages.h"
#include "mcu_periph/uart.h"
#include "modules/datalink/downlink.h"
#include "mcu_periph/adc.h"
#include "modules/core/commands.h"
#include "modules/radio_control/radio_control.h"
#include "autopilot.h"
+ Include dependency graph for glide_wing_lock.c:

Go to the source code of this file.


#define WING_POS_DOWN_THRESH   100


void glide_wing_lock_init (void)
void glide_wing_lock_event ()
void glide_wing_lock_periodic ()
void set_rotorcraft_commands (pprz_t *cmd_out, int32_t *cmd_in, bool in_flight, bool motors_on)
 Set Rotorcraft commands. More...


struct adc_buf adcbuf
int lock_wings

Detailed Description

Kevin van Hecke Locks the wing of an ornicopter so it can glide.

Definition in file glide_wing_lock.c.

Macro Definition Documentation


#define WING_POS_DOWN_THRESH   100

Definition at line 42 of file glide_wing_lock.c.



Definition at line 48 of file glide_wing_lock.c.



Definition at line 45 of file glide_wing_lock.c.



Definition at line 54 of file glide_wing_lock.c.



Definition at line 51 of file glide_wing_lock.c.

Function Documentation

◆ glide_wing_lock_event()

◆ glide_wing_lock_init()

void glide_wing_lock_init ( void  )

Definition at line 58 of file glide_wing_lock.c.

References adc_buf_channel(), and adcbuf.

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◆ glide_wing_lock_periodic()

void glide_wing_lock_periodic ( )

◆ set_rotorcraft_commands()

void set_rotorcraft_commands ( pprz_t cmd_out,
int32_t cmd_in,
bool  in_flight,
bool  motors_on 

Set Rotorcraft commands.

Get autopilot mode from two 2way switches.

Limit thrust and/or yaw depending of the in_flight and motors_on flag status

A default implementation is provided, but the function can be redefined

[out]cmd_outoutput command vector in pprz_t (usually commands array)
[in/out]cmd_in input commands to apply, might be affected by in_flight and motors_on param (FIXME really ?)
[in]in_flighttells if rotorcraft is in flight
[in]motors_ontells if motors are running

Set Rotorcraft commands.

RADIO_MODE switch just selectes between MANUAL and AUTO. If not MANUAL, the RADIO_AUTO_MODE switch selects between AUTO1 and AUTO2.

This is mainly a cludge for entry level radios with no three-way switch, but two available two-way switches which can be used. Set Rotorcraft commands. Limit thrust and/or yaw depending of the in_flight and motors_on flag status

Definition at line 107 of file glide_wing_lock.c.

References lock_wings, and WING_POS_NOMINAL_THRUST.

Variable Documentation

◆ adcbuf

struct adc_buf adcbuf

◆ lock_wings

int lock_wings

Definition at line 39 of file glide_wing_lock.c.

Referenced by glide_wing_lock_event(), and set_rotorcraft_commands().