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Paparazzi UAS
v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Go to the documentation of this file.
32 #include "generated/periodic_telemetry.h"
33 #if FIXEDWING_FIRMWARE || ROTORCRAFT_FIRMWARE || ROVER_FIRMWARE
55 if (_pt == NULL) {
return -1; }
57 for (i = 0; i < _pt->
nb; i++) {
58 if (_pt->
cbs[i].
id == _id) {
79 #if FIXEDWING_FIRMWARE || ROTORCRAFT_FIRMWARE || ROVER_FIRMWARE
84 #if DOWNLINK && !(defined INTERMCU_FBW)
91 #if FIXEDWING_FIRMWARE
95 #if FBW || !TELEMETRY_INTERMCU // FIXME for now send both AP and FBW process if needed
98 #else // ROTORCRAFT && ROVER
106 #if USE_PERIODIC_TELEMETRY_REPORT
void periodic_telemetry_err_report(uint8_t _process, uint8_t _mode, uint8_t _id)
Send an error report when trying to send message that as not been register.
void(* telemetry_cb)(struct transport_tx *trans, struct link_device *dev)
Telemetry callback definition.
signed char int8_t
Typedef defining 8 bit char type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
struct telemetry_cb_slots telemetry_cbs[TELEMETRY_PPRZ_NB_MSG]
struct telemetry_cb_slots * cbs
array of callbacks defined through TELEMETRY_MSG
void autopilot_send_version(void)
send autopilot version
uint8_t id
id of telemetry message
#define TELEMETRY_NB_CBS
number of callbacks that can be registered per msg
Periodic telemetry structure.
int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
Register a telemetry callback function.
uint8_t nb
number of messages
Common code for AP and FBW telemetry.
struct periodic_telemetry pprz_telemetry
Global telemetry structure.
telemetry_cb slots[TELEMETRY_NB_CBS]
static uint8_t mode
mode holds the current sonar mode mode = 0 used at high altitude, uses 16 wave patterns mode = 1 used...
#define DefaultPeriodic
Set default periodic telemetry.
void telemetry_reporting_task(void)
Peridioc task Send a series of initialisation messages followed by a stream of periodic ones.