Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Utility functions and includes for autopilots. More...
#include "firmwares/rotorcraft/autopilot_utils.h"
#include "autopilot.h"
#include "firmwares/rotorcraft/autopilot_rc_helpers.h"
#include "state.h"
#include "modules/radio_control/radio_control.h"
Go to the source code of this file.
Macros | |
#define | THRESHOLD_1_PPRZ (MIN_PPRZ / 2) |
Display descent speed in failsafe mode if needed. More... | |
#define | THRESHOLD_2_PPRZ (MAX_PPRZ / 2) |
Functions | |
uint8_t | ap_mode_of_3way_switch (void) |
get autopilot mode as set by RADIO_MODE 3-way switch More... | |
void WEAK | set_rotorcraft_commands (pprz_t *cmd_out, int32_t *cmd_in, bool in_flight, bool motors_on) |
Get autopilot mode from two 2way switches. More... | |
Utility functions and includes for autopilots.
Definition in file autopilot_utils.c.
#define THRESHOLD_1_PPRZ (MIN_PPRZ / 2) |
Display descent speed in failsafe mode if needed.
Definition at line 72 of file autopilot_utils.c.
#define THRESHOLD_2_PPRZ (MAX_PPRZ / 2) |
Definition at line 73 of file autopilot_utils.c.
uint8_t ap_mode_of_3way_switch | ( | void | ) |
get autopilot mode as set by RADIO_MODE 3-way switch
Definition at line 76 of file autopilot_utils.c.
References autopilot_mode_auto2, MODE_AUTO1, MODE_MANUAL, radio_control, RADIO_MODE, THRESHOLD_1_PPRZ, THRESHOLD_2_PPRZ, and RadioControl::values.
Referenced by autopilot_static_on_rc_frame().
void WEAK set_rotorcraft_commands | ( | pprz_t * | cmd_out, |
int32_t * | cmd_in, | ||
bool | in_flight, | ||
bool | motors_on | ||
) |
Get autopilot mode from two 2way switches.
Set Rotorcraft commands.
RADIO_MODE switch just selectes between MANUAL and AUTO. If not MANUAL, the RADIO_AUTO_MODE switch selects between AUTO1 and AUTO2.
This is mainly a cludge for entry level radios with no three-way switch, but two available two-way switches which can be used. Set Rotorcraft commands. Limit thrust and/or yaw depending of the in_flight and motors_on flag status
Definition at line 121 of file autopilot_utils.c.