Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
main_ap.c File Reference
#include "main_ap.h"
#include "generated/airframe.h"
#include "generated/modules.h"
#include "modules/core/abi.h"
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Macros

#define MODULES_C
 
#define ABI_C
 
#define SYS_PERIOD   (1.f / PERIODIC_FREQUENCY)
 
#define SENSORS_PERIOD   (1.f / PERIODIC_FREQUENCY)
 
#define DATALINK_PERIOD   (1.f / TELEMETRY_FREQUENCY)
 

Functions

void main_ap_init (void)
 
void main_ap_periodic (void)
 
void main_ap_event (void)
 

Variables

tid_t modules_mcu_core_tid
 IDs for timers. More...
 
tid_t modules_sensors_tid
 
tid_t modules_radio_control_tid
 
tid_t modules_gnc_tid
 
tid_t modules_datalink_tid
 

Detailed Description

Autopilot main loop.

This process is reponsible for the collecting the different sensors data, calling the appropriate estimation algorithms and running the different control loops.

Definition in file main_ap.c.

Macro Definition Documentation

◆ ABI_C

#define ABI_C

Definition at line 33 of file main_ap.c.

◆ DATALINK_PERIOD

#define DATALINK_PERIOD   (1.f / TELEMETRY_FREQUENCY)

Definition at line 74 of file main_ap.c.

◆ MODULES_C

#define MODULES_C

Definition at line 31 of file main_ap.c.

◆ SENSORS_PERIOD

#define SENSORS_PERIOD   (1.f / PERIODIC_FREQUENCY)

Definition at line 73 of file main_ap.c.

◆ SYS_PERIOD

#define SYS_PERIOD   (1.f / PERIODIC_FREQUENCY)

Definition at line 72 of file main_ap.c.

Function Documentation

◆ main_ap_event()

void main_ap_event ( void  )

Definition at line 148 of file main_ap.c.

Referenced by nps_autopilot_run_step(), and sim_periodic_task().

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◆ main_ap_init()

void main_ap_init ( void  )

◆ main_ap_periodic()

void main_ap_periodic ( void  )

Definition at line 121 of file main_ap.c.

References modules_datalink_tid, modules_gnc_tid, modules_mcu_core_tid, modules_radio_control_tid, modules_sensors_tid, and sys_time_check_and_ack_timer().

Referenced by nps_autopilot_run_step(), and sim_periodic_task().

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Variable Documentation

◆ modules_datalink_tid

tid_t modules_datalink_tid

Definition at line 70 of file main_ap.c.

Referenced by main_ap_init(), and main_ap_periodic().

◆ modules_gnc_tid

tid_t modules_gnc_tid

Definition at line 69 of file main_ap.c.

Referenced by main_ap_init(), and main_ap_periodic().

◆ modules_mcu_core_tid

tid_t modules_mcu_core_tid

IDs for timers.

Definition at line 66 of file main_ap.c.

Referenced by main_ap_init(), and main_ap_periodic().

◆ modules_radio_control_tid

tid_t modules_radio_control_tid

Definition at line 68 of file main_ap.c.

Referenced by main_ap_init(), and main_ap_periodic().

◆ modules_sensors_tid

tid_t modules_sensors_tid

Definition at line 67 of file main_ap.c.

Referenced by main_ap_init(), and main_ap_periodic().