Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
nps_autopilot_rover.c File Reference
#include "nps_autopilot.h"
#include "main_ap.h"
#include "nps_sensors.h"
#include "nps_radio_control.h"
#include "nps_electrical.h"
#include "nps_fdm.h"
#include "modules/radio_control/radio_control.h"
#include "modules/imu/imu.h"
#include "mcu_periph/sys_time.h"
#include "state.h"
#include "modules/ahrs/ahrs.h"
#include "modules/ins/ins.h"
#include "math/pprz_algebra.h"
#include "modules/core/abi.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
#include "modules/datalink/datalink.h"
#include "modules/actuators/actuators.h"
#include <stdio.h>
#include "modules/gps/gps.h"
+ Include dependency graph for nps_autopilot_rover.c:

Go to the source code of this file.

Macros

#define NPS_BYPASS_AHRS   FALSE
 
#define NPS_BYPASS_INS   FALSE
 

Functions

void nps_autopilot_init (enum NpsRadioControlType type_rc, int num_rc_script, char *rc_dev)
 
void nps_autopilot_run_systime_step (void)
 
void nps_autopilot_run_step (double time)
 
void sim_overwrite_ahrs (void)
 
void sim_overwrite_ins (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
 

Macro Definition Documentation

◆ NPS_BYPASS_AHRS

#define NPS_BYPASS_AHRS   FALSE

Definition at line 61 of file nps_autopilot_rover.c.

◆ NPS_BYPASS_INS

#define NPS_BYPASS_INS   FALSE

Definition at line 65 of file nps_autopilot_rover.c.

Function Documentation

◆ nps_autopilot_init()

void nps_autopilot_init ( enum NpsRadioControlType  type_rc,
int  num_rc_script,
char *  rc_dev 
)

Definition at line 72 of file nps_autopilot_rover.c.

References 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().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ nps_autopilot_run_step()

◆ nps_autopilot_run_systime_step()

void nps_autopilot_run_systime_step ( void  )

Definition at line 87 of file nps_autopilot_rover.c.

References sys_tick_handler().

Referenced by nps_main_run_sim_step().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ sim_overwrite_ahrs()

void sim_overwrite_ahrs ( void  )

Definition at line 181 of file nps_autopilot_rover.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().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ sim_overwrite_ins()

void sim_overwrite_ins ( void  )

Definition at line 194 of file nps_autopilot_rover.c.

References fdm, NpsFdm::ltpprz_ecef_accel, NpsFdm::ltpprz_ecef_vel, NpsFdm::ltpprz_pos, stateCalcPositionEnu_i(), stateSetAccelNed_f(), stateSetPositionNed_f(), stateSetSpeedNed_f(), and VECT3_COPY.

Referenced by ins_ekf2_update(), ins_ned_to_state(), and nps_autopilot_run_step().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

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 56 of file nps_autopilot_rover.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 57 of file nps_autopilot_rover.c.

Referenced by nps_autopilot_init(), and nps_autopilot_run_step().

◆ nps_bypass_ins

bool nps_bypass_ins