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_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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Macros
#define	FAILSAFE_MODE_TOO_FAR_FROM_HOME   AP_MODE_FAILSAFE
	Mode that is set when the plane is really too far from home.
#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)

Functions
void	autopilot_static_init (void)
	Static autopilot functions.
void	autopilot_static_periodic (void)
void	autopilot_static_SetModeHandler (float mode)
	AP mode setting handler.
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.
void	autopilot_failsafe_checks (void)
	Autopilot periodic failsafe checks.

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 67 of file autopilot_static.c.

MODE_STARTUP

#define MODE_STARTUP   AP_MODE_KILL

Definition at line 72 of file autopilot_static.c.

NAV_PRESCALER

#define NAV_PRESCALER   (PERIODIC_FREQUENCY / NAVIGATION_FREQUENCY)

Definition at line 109 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 405 of file autopilot_static.c.

UNLOCKED_HOME_MODE

#define UNLOCKED_HOME_MODE   TRUE

Definition at line 78 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 408 of file autopilot_static.c.

References AP_MODE_FAILSAFE, AP_MODE_GUIDED, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_NAV, autopilot_get_mode(), autopilot_get_motors_on(), autopilot_set_mode(), Electrical::bat_critical, datalink_time, electrical, foo, 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 93 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 344 of file autopilot_static.c.

References AP_MODE_FAILSAFE, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_NAV, ap_mode_of_3way_switch(), autopilot, autopilot_arming_check_motors_on(), autopilot_static_set_mode(), commands, foo, GpsIsLost, 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 110 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(), Stabilization::cmd, 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, foo, pprz_autopilot::ground_detected, guidance_h, GUIDANCE_H_MODE_NONE, guidance_h_run(), guidance_v_run(), higher_than_max_altitude(), pprz_autopilot::in_flight, pprz_autopilot::mode, HorizontalGuidance::mode, pprz_autopilot::motors_on, nav, nav_home(), nav_periodic_task(), NAV_PRESCALER, Stabilization::rc_sp, SetRotorcraftCommands, stabilization, stabilization_get_failsafe_sp(), stabilization_run(), pprz_autopilot::throttle, thrust_sp, 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 212 of file autopilot_static.c.

References 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_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_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(), Stabilization::cmd, FAILSAFE_DESCENT_SPEED, foo, guidance_h_mode_changed(), GUIDANCE_H_MODE_GUIDED, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_NONE, guidance_v_mode_changed(), GUIDANCE_V_MODE_CLIMB, GUIDANCE_V_MODE_GUIDED, GUIDANCE_V_MODE_HOVER, GUIDANCE_V_MODE_KILL, GUIDANCE_V_MODE_NAV, GUIDANCE_V_MODE_RC_CLIMB, GUIDANCE_V_MODE_RC_DIRECT, guidance_v_set_vz(), pprz_autopilot::mode, stabilization, STABILIZATION_ATT_SUBMODE_CARE_FREE, STABILIZATION_ATT_SUBMODE_FORWARD, STABILIZATION_ATT_SUBMODE_HEADING, STABILIZATION_MODE_ATTITUDE, stabilization_mode_changed(), STABILIZATION_MODE_DIRECT, STABILIZATION_MODE_NONE, and STABILIZATION_MODE_RATE.

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autopilot_static_set_motors_on()

void autopilot_static_set_motors_on

(

bool

motors_on

)

Definition at line 334 of file autopilot_static.c.

References 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 196 of file autopilot_static.c.

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

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