Paparazzi UAS  v6.3_unstable
Paparazzi is a free software Unmanned Aircraft System.
Macros | Functions
autopilot_static.c File Reference

Static autopilot implementation. More...

#include "autopilot.h"
#include "autopilot_arming.h"
#include "modules/radio_control/radio_control.h"
#include "modules/core/commands.h"
#include "modules/actuators/actuators.h"
#include "modules/energy/electrical.h"
#include "modules/core/settings.h"
#include "firmwares/rotorcraft/navigation.h"
#include "firmwares/rotorcraft/guidance.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_none.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/autopilot_guided.h"
#include "generated/settings.h"
#include "modules/gps/gps.h"
#include "modules/nav/nav_geofence.h"
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Go to the source code of this file.

Macros

#define FAILSAFE_MODE_TOO_FAR_FROM_HOME   AP_MODE_FAILSAFE
 Mode that is set when the plane is really too far from home. More...
 
#define MODE_STARTUP   AP_MODE_KILL
 
#define UNLOCKED_HOME_MODE   TRUE
 
#define NAV_PRESCALER   (PERIODIC_FREQUENCY / NAVIGATION_FREQUENCY)
 
#define RC_LOST_MODE   AP_MODE_FAILSAFE
 mode to enter when RC is lost while using a mode with RC input (not AP_MODE_NAV) More...
 

Functions

void autopilot_static_init (void)
 Static autopilot functions. More...
 
void autopilot_static_periodic (void)
 
void autopilot_static_SetModeHandler (float mode)
 AP mode setting handler. More...
 
void autopilot_static_set_mode (uint8_t new_autopilot_mode)
 
void autopilot_static_set_motors_on (bool motors_on)
 
void autopilot_static_on_rc_frame (void)
 Function to be called when a message from FBW is available. More...
 
void autopilot_failsafe_checks (void)
 Autopilot periodic failsafe checks. More...
 

Detailed Description

Static autopilot implementation.

Definition in file autopilot_static.c.

Macro Definition Documentation

◆ FAILSAFE_MODE_TOO_FAR_FROM_HOME

#define FAILSAFE_MODE_TOO_FAR_FROM_HOME   AP_MODE_FAILSAFE

Mode that is set when the plane is really too far from home.

Definition at line 68 of file autopilot_static.c.

◆ MODE_STARTUP

#define MODE_STARTUP   AP_MODE_KILL

Definition at line 73 of file autopilot_static.c.

◆ NAV_PRESCALER

#define NAV_PRESCALER   (PERIODIC_FREQUENCY / NAVIGATION_FREQUENCY)

Definition at line 110 of file autopilot_static.c.

◆ RC_LOST_MODE

#define RC_LOST_MODE   AP_MODE_FAILSAFE

mode to enter when RC is lost while using a mode with RC input (not AP_MODE_NAV)

Definition at line 397 of file autopilot_static.c.

◆ UNLOCKED_HOME_MODE

#define UNLOCKED_HOME_MODE   TRUE

Definition at line 79 of file autopilot_static.c.

Function Documentation

◆ autopilot_failsafe_checks()

void autopilot_failsafe_checks ( void  )

Autopilot periodic failsafe checks.

Autopilot periodic failsafe checks.

Autopilot periodic failsafe checks.

Checks order:

  • mode from RC
  • RC lost (if MANUAL or AUTO1)
  • RC kill switch (any case)
  • launch detect from RC
  • GPS lost (if AUTO2 or HOME)
  • too far from HOME (if not HOME or not GPS_OUT_OF_ORDER)

send mode if changed at the end

Definition at line 400 of file autopilot_static.c.

References AP_MODE_FAILSAFE, AP_MODE_FLIP, AP_MODE_GUIDED, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_MODULE, AP_MODE_NAV, autopilot_get_mode(), autopilot_get_motors_on(), autopilot_set_mode(), Electrical::bat_critical, datalink_time, electrical, GpsIsLost, radio_control, RC_LOST_MODE, RC_OK, RC_REALLY_LOST, and RadioControl::status.

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◆ autopilot_static_init()

void autopilot_static_init ( void  )

Static autopilot functions.

Specific function for static AP.

Static autopilot functions.

Todo:
, properly implement or remove
Todo:
: properly implement/fix a triggered attitude loop

Definition at line 94 of file autopilot_static.c.

References AP_MODE_KILL, autopilot, autopilot_arming_init(), autopilot_static_set_mode(), pprz_autopilot::mode, and MODE_STARTUP.

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◆ autopilot_static_on_rc_frame()

void autopilot_static_on_rc_frame ( void  )

Function to be called when a message from FBW is available.

In AUTO1 mode, compute roll setpoint and pitch setpoint from RADIO_ROLL and RADIO_PITCH

Roll is bounded between [-AUTO1_MAX_ROLL;AUTO1_MAX_ROLL]

Pitch is bounded between [-AUTO1_MAX_PITCH;AUTO1_MAX_PITCH]

Else asynchronously set by h_ctl_course_loop()

In AUTO1, throttle comes from RADIO_THROTTLE In MANUAL, the value is copied to get it in the telemetry

else asynchronously set by v_ctl_climb_loop();

Definition at line 328 of file autopilot_static.c.

References ap_ahrs_is_aligned(), AP_ARMING_STATUS_AHRS_NOT_ALLIGNED, AP_MODE_FAILSAFE, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_NAV, ap_mode_of_3way_switch(), pprz_autopilot::arming_status, autopilot, autopilot_arming_check_motors_on(), autopilot_in_flight(), autopilot_static_set_mode(), commands, GpsIsLost, guidance_h_read_rc(), guidance_v_read_rc(), kill_switch_is_on(), pprz_autopilot::kill_throttle, pprz_autopilot::mode, MODE_MANUAL, pprz_autopilot::motors_on, nav, radio_control, RotorcraftNavigation::too_far_from_home, UNLOCKED_HOME_MODE, and RadioControl::values.

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◆ autopilot_static_periodic()

void autopilot_static_periodic ( void  )

Definition at line 111 of file autopilot_static.c.

References AP_MODE_FAILSAFE, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_NAV, autopilot, autopilot_in_flight(), autopilot_static_set_mode(), commands, commands_failsafe, compute_dist2_to_home(), datalink_lost(), pprz_autopilot::detect_ground_once, RotorcraftNavigation::dist2_to_home, RotorcraftNavigation::failsafe_mode_dist2, FAILSAFE_MODE_TOO_FAR_FROM_HOME, pprz_autopilot::ground_detected, guidance_h_run(), guidance_v_run(), higher_than_max_altitude(), pprz_autopilot::in_flight, pprz_autopilot::mode, pprz_autopilot::motors_on, nav, nav_home(), nav_periodic_task(), NAV_PRESCALER, SetRotorcraftCommands, stabilization_cmd, pprz_autopilot::throttle, and RotorcraftNavigation::too_far_from_home.

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◆ autopilot_static_set_mode()

void autopilot_static_set_mode ( uint8_t  new_autopilot_mode)

Definition at line 192 of file autopilot_static.c.

References ap_ahrs_is_aligned(), AP_MODE_ATTITUDE_CLIMB, AP_MODE_ATTITUDE_DIRECT, AP_MODE_ATTITUDE_RC_CLIMB, AP_MODE_ATTITUDE_Z_HOLD, AP_MODE_CARE_FREE_DIRECT, AP_MODE_FAILSAFE, AP_MODE_FLIP, AP_MODE_FORWARD, AP_MODE_GUIDED, AP_MODE_HOME, AP_MODE_HOVER_CLIMB, AP_MODE_HOVER_DIRECT, AP_MODE_HOVER_Z_HOLD, AP_MODE_KILL, AP_MODE_MODULE, AP_MODE_NAV, AP_MODE_RATE_DIRECT, AP_MODE_RATE_RC_CLIMB, AP_MODE_RATE_Z_HOLD, AP_MODE_RC_DIRECT, autopilot, autopilot_set_in_flight(), autopilot_set_motors_on(), FAILSAFE_DESCENT_SPEED, FALSE, GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_CARE_FREE, guidance_h_mode_changed(), GUIDANCE_H_MODE_FLIP, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_GUIDED, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_KILL, GUIDANCE_H_MODE_MODULE_SETTING, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_RATE, GUIDANCE_H_MODE_RC_DIRECT, guidance_v_mode_changed(), GUIDANCE_V_MODE_CLIMB, GUIDANCE_V_MODE_FLIP, GUIDANCE_V_MODE_GUIDED, GUIDANCE_V_MODE_HOVER, GUIDANCE_V_MODE_KILL, GUIDANCE_V_MODE_MODULE_SETTING, GUIDANCE_V_MODE_NAV, GUIDANCE_V_MODE_RC_CLIMB, GUIDANCE_V_MODE_RC_DIRECT, guidance_v_set_vz(), pprz_autopilot::mode, MODE_STARTUP, stabilization_attitude_set_failsafe_setpoint(), and stabilization_cmd.

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◆ autopilot_static_set_motors_on()

void autopilot_static_set_motors_on ( bool  motors_on)

Definition at line 318 of file autopilot_static.c.

References ap_ahrs_is_aligned(), AP_MODE_KILL, autopilot, autopilot_arming_set(), pprz_autopilot::mode, and pprz_autopilot::motors_on.

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◆ autopilot_static_SetModeHandler()

void autopilot_static_SetModeHandler ( float  mode)

AP mode setting handler.

Checks RC status before calling autopilot_static_set_mode function

Definition at line 176 of file autopilot_static.c.

References AP_MODE_FAILSAFE, AP_MODE_FLIP, AP_MODE_GUIDED, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_MODULE, AP_MODE_NAV, autopilot_static_set_mode(), mode, radio_control, RC_OK, and RadioControl::status.

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