Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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nps_autopilot.h
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1/*
2 * Copyright (C) Paparazzi team
3 * This file is part of paparazzi.
4 *
5 * paparazzi is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2, or (at your option)
8 * any later version.
9 *
10 * paparazzi is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
14 *
15 * You should have received a copy of the GNU General Public License
16 * along with paparazzi; see the file COPYING. If not, write to
17 * the Free Software Foundation, 59 Temple Place - Suite 330,
18 * Boston, MA 02111-1307, USA.
19 */
20
21#ifndef NPS_AUTOPILOT_H
22#define NPS_AUTOPILOT_H
23
24#ifdef __cplusplus
25extern "C" {
26#endif
27
28#include "generated/airframe.h"
29
30#include "nps_radio_control.h"
31
38#ifndef NPS_COMMANDS_NB
39#if defined MOTOR_MIXING_NB_MOTOR
40#define NPS_COMMANDS_NB MOTOR_MIXING_NB_MOTOR
41#elif defined NPS_USE_COMMANDS
42#define NPS_COMMANDS_NB COMMANDS_NB
43#else
44#define NPS_COMMANDS_NB ACTUATORS_NB // uses actuators_pprz[ACTUATORS_NB]
45#endif /* #if defined MOTOR_MIXING_NB_MOTOR or NPS_USE_COMMANDS */
46#endif /* #ifndef NPS_COMMANDS_NB */
47
52
53extern struct NpsAutopilot nps_autopilot;
54
55extern bool nps_bypass_ahrs;
56extern bool nps_bypass_ins;
57extern void sim_overwrite_ahrs(void);
58extern void sim_overwrite_ins(void);
59
60extern void nps_autopilot_init(enum NpsRadioControlType type, int num_script, char *js_dev);
61extern void nps_autopilot_run_step(double time);
62extern void nps_autopilot_run_systime_step(void);
63
64#ifdef __cplusplus
65}
66#endif
67
68#endif /* NPS_AUTOPILOT_H */
struct NpsAutopilot nps_autopilot
#ifndef NPS_NO_MOTOR_MIXING #include "modules/actuators/motor_mixing.h"
double commands[NPS_COMMANDS_NB]
void nps_autopilot_run_step(double time)
bool nps_bypass_ahrs
#define NPS_COMMANDS_NB
Number of commands sent to the FDM of NPS.
bool nps_bypass_ins
void sim_overwrite_ins(void)
void nps_autopilot_run_systime_step(void)
void nps_autopilot_init(enum NpsRadioControlType type, int num_script, char *js_dev)
void sim_overwrite_ahrs(void)
NpsRadioControlType