Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
autopilot_utils.c File Reference

Utility functions and includes for autopilots. More...

+ Include dependency graph for autopilot_utils.c:

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...
 

Detailed Description

Utility functions and includes for autopilots.

Definition in file autopilot_utils.c.

Macro Definition Documentation

◆ THRESHOLD_1_PPRZ

#define THRESHOLD_1_PPRZ   (MIN_PPRZ / 2)

Display descent speed in failsafe mode if needed.

Definition at line 72 of file autopilot_utils.c.

◆ THRESHOLD_2_PPRZ

#define THRESHOLD_2_PPRZ   (MAX_PPRZ / 2)

Definition at line 73 of file autopilot_utils.c.

Function Documentation

◆ ap_mode_of_3way_switch()

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().

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◆ set_rotorcraft_commands()

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.