Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
nps_autopilot.h File Reference
#include "generated/airframe.h"
#include "nps_radio_control.h"
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Data Structures

struct  NpsAutopilot
 

Macros

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

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" More...
 
bool nps_bypass_ahrs
 
bool nps_bypass_ins
 

Data Structure Documentation

◆ NpsAutopilot

struct NpsAutopilot

Definition at line 46 of file nps_autopilot.h.

Data Fields
double commands[NPS_COMMANDS_NB]
bool launch

Macro Definition Documentation

◆ NPS_COMMANDS_NB

#define NPS_COMMANDS_NB   COMMANDS_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 42 of file nps_autopilot.h.

Function Documentation

◆ nps_autopilot_init()

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

Definition at line 69 of file nps_autopilot_fixedwing.c.

References FALSE, 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  )

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  )

Definition at line 234 of file nps_autopilot_fixedwing.c.

References NpsFdm::body_ecef_rotvel, fdm, 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

#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_run_step(), nps_main_run_sim_step(), and nps_update_launch_from_dl().

◆ nps_bypass_ahrs

bool nps_bypass_ahrs

Definition at line 53 of file nps_autopilot_fixedwing.c.

Referenced by nps_autopilot_init(), and nps_autopilot_run_step().

◆ nps_bypass_ins

bool nps_bypass_ins