autopilot.c File Reference

Fixedwing autopilot inititalization. More...

#include <stdint.h>
#include "firmwares/fixedwing/autopilot.h"
#include "state.h"
#include "firmwares/fixedwing/nav.h"
#include "pprz_version.h"
#include "subsystems/datalink/telemetry.h"
#include "generated/settings.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include <CTRL_TYPE_H>

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Functions
void	send_autopilot_version (struct transport_tx *trans, struct link_device *dev)
static void	send_alive (struct transport_tx *trans, struct link_device *dev)
static void	send_mode (struct transport_tx *trans, struct link_device *dev)
static void	send_attitude (struct transport_tx *trans, struct link_device *dev)
static void	send_estimator (struct transport_tx *trans, struct link_device *dev)
static void	send_bat (struct transport_tx *trans, struct link_device *dev)
static void	send_energy (struct transport_tx *trans, struct link_device *dev)
static void	send_dl_value (struct transport_tx *trans, struct link_device *dev)
static void	send_desired (struct transport_tx *trans, struct link_device *dev)
static void	send_airspeed (struct transport_tx *trans, struct link_device *dev)
void	autopilot_send_mode (void)
	Send mode over telemetry. More...
void	autopilot_init (void)
	Autopilot inititalization. More...

Variables
uint8_t	pprz_mode
bool	kill_throttle
uint8_t	mcu1_status
bool	launch
uint16_t	autopilot_flight_time
	flight time in seconds. More...
uint8_t	lateral_mode
uint16_t	vsupply
	Supply voltage in deciVolt. More...
int32_t	current
	Supply current in milliAmpere. More...
float	energy
	Energy consumption (mAh) This is the ap copy of the measurement from fbw. More...
bool	gps_lost
bool	power_switch
	Power switch control. More...
uint8_t	rc_settings_mode = 0

Detailed Description

Fixedwing autopilot inititalization.

Definition in file autopilot.c.

Function Documentation

void autopilot_init

(

void

)

Autopilot inititalization.

Definition at line 175 of file autopilot.c.

Referenced by init_ap(), and main_init().

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void autopilot_send_mode

(

void

)

Send mode over telemetry.

Definition at line 167 of file autopilot.c.

References DefaultChannel, DefaultDevice, and send_mode().

Referenced by navigation_task(), and telecommand_task().

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static void send_airspeed ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 152 of file autopilot.c.

References stateGetAirspeed_f(), v_ctl_auto_airspeed_controlled, v_ctl_auto_airspeed_setpoint, and v_ctl_auto_groundspeed_setpoint.

Referenced by autopilot_init().

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static void send_alive ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 71 of file autopilot.c.

Referenced by autopilot_init().

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static void send_attitude ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 94 of file autopilot.c.

References FloatEulers::phi, FloatEulers::psi, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by autopilot_init().

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void send_autopilot_version	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

Definition at line 64 of file autopilot.c.

Referenced by autopilot_init().

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static void send_bat ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 107 of file autopilot.c.

References autopilot_flight_time, block_time, current, energy, kill_throttle, stage_time, v_ctl_throttle_slewed, and vsupply.

Referenced by autopilot_init().

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static void send_desired ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 141 of file autopilot.c.

References desired_x, desired_y, h_ctl_course_setpoint, h_ctl_pitch_loop_setpoint, h_ctl_roll_setpoint, v_ctl_altitude_setpoint, v_ctl_auto_airspeed_setpoint, and v_ctl_climb_setpoint.

Referenced by autopilot_init().

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static void send_dl_value ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 133 of file autopilot.c.

Referenced by autopilot_init().

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static void send_energy ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 121 of file autopilot.c.

References current, energy, and vsupply.

Referenced by autopilot_init().

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static void send_estimator ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 101 of file autopilot.c.

References stateGetPositionUtm_f(), and stateGetSpeedEnu_f().

Referenced by autopilot_init().

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static void send_mode ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 88 of file autopilot.c.

References horizontal_mode, lateral_mode, mcu1_status, pprz_mode, and v_ctl_mode.

Referenced by autopilot_init(), and autopilot_send_mode().

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Variable Documentation

uint16_t autopilot_flight_time

flight time in seconds.

Definition at line 48 of file autopilot.c.

Referenced by attitude_loop(), autopilot_init(), generic_com_periodic(), gsm_send_report_continue(), main_periodic(), mf_daq_send_state(), monitor_task(), nav_check_wp_time(), parse_mf_daq_msg(), send_bat(), send_fp(), and telecommand_task().

int32_t current

Supply current in milliAmpere.

This the ap copy of the measurement from fbw

Definition at line 53 of file autopilot.c.

Referenced by send_bat(), send_energy(), and telecommand_task().

float energy

Energy consumption (mAh) This is the ap copy of the measurement from fbw.

Definition at line 54 of file autopilot.c.

Referenced by generic_com_periodic(), send_bat(), send_energy(), and telecommand_task().

bool gps_lost

Definition at line 56 of file autopilot.c.

Referenced by autopilot_init(), and navigation_task().

bool kill_throttle

Definition at line 42 of file autopilot.c.

Referenced by attitude_loop(), autopilot_init(), autopilot_on_rc_frame(), autopilot_set_motors_on(), electrical_periodic(), geo_mag_periodic(), mavlink_send_heartbeat(), monitor_task(), nav_bungee_takeoff_run(), nav_bungee_takeoff_setup(), nav_launcher_run(), nav_launcher_setup(), nav_skid_landing_run(), nps_autopilot_run_step(), send_bat(), v_ctl_climb_loop(), and v_ctl_landing_loop().

uint8_t lateral_mode

Definition at line 50 of file autopilot.c.

Referenced by autopilot_init(), fly_to_xy(), nav_without_gps(), navigation_task(), send_mode(), and v_ctl_landing_loop().

bool launch

Definition at line 45 of file autopilot.c.

Referenced by autopilot_init().

uint8_t mcu1_status

Definition at line 43 of file autopilot.c.

Referenced by mcu1_status_update(), and send_mode().

bool power_switch

Power switch control.

Definition at line 58 of file autopilot.c.

Referenced by autopilot_init().

uint8_t pprz_mode

Definition at line 41 of file autopilot.c.

Referenced by attitude_loop(), autopilot_init(), cam_periodic(), generic_com_periodic(), h_ctl_pitch_loop(), h_ctl_roll_loop(), mavlink_send_heartbeat(), navigation_task(), periodic_auto1_commands(), pprz_mode_update(), send_mode(), takeoff_detect_periodic(), telecommand_task(), v_ctl_set_pitch(), v_ctl_set_throttle(), and vPoint().

uint8_t rc_settings_mode = 0

Definition at line 85 of file autopilot.c.

uint16_t vsupply

Supply voltage in deciVolt.

This the ap copy of the measurement from fbw

Definition at line 52 of file autopilot.c.

Referenced by attitude_loop(), gsm_send_report_continue(), monitor_task(), send_bat(), send_energy(), and telecommand_task().