Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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nps_autopilot.h File Reference
#include "generated/airframe.h"
#include "nps_radio_control.h"
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Go to the source code of this file.

Data Structures

struct  NpsAutopilot
 

Macros

#define NPS_COMMANDS_NB   ACTUATORS_NB
 Number of commands sent to the FDM of NPS.
 

Functions

void sim_overwrite_ahrs (void)
 
void sim_overwrite_ins (void)
 
void nps_autopilot_init (enum NpsRadioControlType type, int num_script, char *js_dev)
 
void nps_autopilot_run_step (double time)
 
void nps_autopilot_run_systime_step (void)
 

Variables

struct NpsAutopilot nps_autopilot
 ifndef NPS_NO_MOTOR_MIXING include "modules/actuators/motor_mixing.h"
 
bool nps_bypass_ahrs
 
bool nps_bypass_ins
 

Data Structure Documentation

◆ NpsAutopilot

struct NpsAutopilot

Definition at line 48 of file nps_autopilot.h.

Data Fields
double commands[NPS_COMMANDS_NB]
bool launch

Macro Definition Documentation

◆ NPS_COMMANDS_NB

#define NPS_COMMANDS_NB   ACTUATORS_NB

Number of commands sent to the FDM of NPS.

If MOTOR_MIXING_NB_MOTOR is defined (usually rotorcraft firmware) we have that many commands (one per motor), otherwise we default to the number of high level commands (COMMANDS_NB).

Definition at line 44 of file nps_autopilot.h.

Function Documentation

◆ nps_autopilot_init()

void nps_autopilot_init ( enum NpsRadioControlType  type,
int  num_script,
char js_dev 
)
extern

Definition at line 69 of file nps_autopilot_fixedwing.c.

References FALSE, foo, NpsAutopilot::launch, main_ap_init(), nps_autopilot, nps_bypass_ahrs, NPS_BYPASS_AHRS, nps_bypass_ins, NPS_BYPASS_INS, nps_electrical_init(), nps_radio_control_init(), and TRUE.

Referenced by nps_radio_and_autopilot_init().

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◆ nps_autopilot_run_step()

◆ nps_autopilot_run_systime_step()

void nps_autopilot_run_systime_step ( void  )
extern

Definition at line 87 of file nps_autopilot_fixedwing.c.

References sys_tick_handler().

Referenced by nps_main_run_sim_step().

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◆ sim_overwrite_ahrs()

void sim_overwrite_ahrs ( void  )
extern

Definition at line 234 of file nps_autopilot_fixedwing.c.

References NpsFdm::body_ecef_rotvel, fdm, foo, NpsFdm::ltp_to_body_quat, QUAT_COPY, RATES_COPY, stateSetBodyRates_f(), and stateSetNedToBodyQuat_f().

Referenced by nps_autopilot_run_step().

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◆ sim_overwrite_ins()

Variable Documentation

◆ nps_autopilot

struct NpsAutopilot nps_autopilot
extern

ifndef NPS_NO_MOTOR_MIXING include "modules/actuators/motor_mixing.h"

if NPS_COMMANDS_NB != MOTOR_MIXING_NB_MOTOR warning "NPS_COMMANDS_NB does not match MOTOR_MIXING_NB_MOTOR!" endif endif

Definition at line 52 of file nps_autopilot_fixedwing.c.

Referenced by nps_ap_data_loop(), nps_autopilot_init(), nps_autopilot_init(), nps_autopilot_run_step(), nps_main_run_sim_step(), and nps_update_launch_from_dl().

◆ nps_bypass_ahrs

bool nps_bypass_ahrs
extern

◆ nps_bypass_ins