autopilot.h File Reference

Fixedwing autopilot modes. More...

#include <inttypes.h>
#include "std.h"
#include "paparazzi.h"
#include "generated/airframe.h"
#include "subsystems/settings.h"
#include "pprzlink/pprzlink_transport.h"

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Macros
#define	THRESHOLD_MANUAL_PPRZ   (MIN_PPRZ / 2)
	Threshold for RC mode detection. More...
#define	THRESHOLD1   THRESHOLD_MANUAL_PPRZ
#define	THRESHOLD2   (MAX_PPRZ/2)
#define	PPRZ_MODE_MANUAL   0
	AP modes. More...
#define	PPRZ_MODE_AUTO1   1
#define	PPRZ_MODE_AUTO2   2
#define	PPRZ_MODE_HOME   3
#define	PPRZ_MODE_GPS_OUT_OF_ORDER   4
#define	PPRZ_MODE_NB   5
#define	PPRZ_MODE_OF_PULSE(pprz)
#define	autopilot_ResetFlightTimeAndLaunch(_)
#define	LATERAL_MODE_MANUAL   0
#define	LATERAL_MODE_ROLL_RATE   1
#define	LATERAL_MODE_ROLL   2
#define	LATERAL_MODE_COURSE   3
#define	LATERAL_MODE_NB   4
#define	STICK_PUSHED(pprz)   (pprz < THRESHOLD1 || pprz > THRESHOLD2)
#define	FLOAT_OF_PPRZ(pprz, center, travel)   ((float)pprz / (float)MAX_PPRZ * travel + center)
#define	THROTTLE_THRESHOLD_TAKEOFF   (pprz_t)(MAX_PPRZ * 0.9)
#define	ModeUpdate(_mode, _value)
	Assignment, returning _old_value != _value Using GCC expression statements. More...
#define	autopilot_SetPowerSwitch(_x)   { power_switch = _x; }
#define	CONTROL_FREQUENCY   60
#define	NAVIGATION_FREQUENCY   4

Functions
void	autopilot_init (void)
	Autopilot inititalization. More...
void	autopilot_send_mode (void)
	Send mode over telemetry. More...
static void	autopilot_StoreSettings (float store)
static void	autopilot_ClearSettings (float clear)
void	send_autopilot_version (struct transport_tx *trans, struct link_device *dev)

Variables
uint8_t	pprz_mode
bool	kill_throttle
uint8_t	mcu1_status
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	launch
bool	gps_lost
bool	power_switch
	Power switch control. More...

Detailed Description

Fixedwing autopilot modes.

Definition in file autopilot.h.

Macro Definition Documentation

#define autopilot_ResetFlightTimeAndLaunch

(

_

)

Value:

{ \
    autopilot_flight_time = 0; launch = false; \
  }

Definition at line 68 of file autopilot.h.

#define autopilot_SetPowerSwitch

(

_x

)

{ power_switch = _x; }

Definition at line 128 of file autopilot.h.

#define CONTROL_FREQUENCY   60

Definition at line 140 of file autopilot.h.

Referenced by init_ap(), and v_ctl_landing_loop().

#define FLOAT_OF_PPRZ	(		pprz,
			center,
			travel
	)		((float)pprz / (float)MAX_PPRZ * travel + center)

Definition at line 82 of file autopilot.h.

Referenced by telecommand_task().

#define LATERAL_MODE_COURSE   3

Definition at line 77 of file autopilot.h.

Referenced by fly_to_xy(), and navigation_task().

#define LATERAL_MODE_MANUAL   0

Definition at line 74 of file autopilot.h.

Referenced by autopilot_init().

#define LATERAL_MODE_NB   4

Definition at line 78 of file autopilot.h.

#define LATERAL_MODE_ROLL   2

Definition at line 76 of file autopilot.h.

Referenced by fly_to_xy(), nav_without_gps(), and v_ctl_landing_loop().

#define LATERAL_MODE_ROLL_RATE   1

Definition at line 75 of file autopilot.h.

#define ModeUpdate	(		_mode,
			_value
	)

Value:

({ \
    uint8_t new_mode = _value; \
    (_mode != new_mode ? _mode = new_mode, TRUE : FALSE); \
  })

Assignment, returning _old_value != _value Using GCC expression statements.

Definition at line 107 of file autopilot.h.

Referenced by pprz_mode_update().

#define NAVIGATION_FREQUENCY   4

Definition at line 145 of file autopilot.h.

Referenced by init_ap().

#define PPRZ_MODE_AUTO1   1

Definition at line 51 of file autopilot.h.

Referenced by cam_periodic(), mavlink_send_heartbeat(), periodic_auto1_commands(), pprz_mode_update(), and telecommand_task().

#define PPRZ_MODE_AUTO2   2

Definition at line 52 of file autopilot.h.

Referenced by attitude_loop(), autopilot_init(), cam_periodic(), mavlink_send_heartbeat(), navigation_task(), pprz_mode_update(), takeoff_detect_periodic(), telecommand_task(), and vPoint().

#define PPRZ_MODE_GPS_OUT_OF_ORDER   4

Definition at line 54 of file autopilot.h.

Referenced by navigation_task(), pprz_mode_update(), and telecommand_task().

#define PPRZ_MODE_HOME   3

Definition at line 53 of file autopilot.h.

Referenced by mavlink_send_heartbeat(), navigation_task(), pprz_mode_update(), and telecommand_task().

#define PPRZ_MODE_MANUAL   0

AP modes.

Definition at line 50 of file autopilot.h.

Referenced by h_ctl_pitch_loop(), h_ctl_roll_loop(), mavlink_send_heartbeat(), pprz_mode_update(), telecommand_task(), v_ctl_set_pitch(), and v_ctl_set_throttle().

#define PPRZ_MODE_NB   5

Definition at line 55 of file autopilot.h.

#define PPRZ_MODE_OF_PULSE

(

pprz

)

Value:

(pprz > THRESHOLD2 ? PPRZ_MODE_AUTO2 : \
   (pprz > THRESHOLD1 ? PPRZ_MODE_AUTO1 : PPRZ_MODE_MANUAL))

Definition at line 57 of file autopilot.h.

Referenced by pprz_mode_update().

#define STICK_PUSHED

(

pprz

)

(pprz < THRESHOLD1 || pprz > THRESHOLD2)

Definition at line 81 of file autopilot.h.

#define THRESHOLD1   THRESHOLD_MANUAL_PPRZ

Definition at line 45 of file autopilot.h.

#define THRESHOLD2   (MAX_PPRZ/2)

Definition at line 46 of file autopilot.h.

Referenced by pprz_mode_update().

#define THRESHOLD_MANUAL_PPRZ   (MIN_PPRZ / 2)

Threshold for RC mode detection.

Definition at line 44 of file autopilot.h.

#define THROTTLE_THRESHOLD_TAKEOFF   (pprz_t)(MAX_PPRZ * 0.9)

Definition at line 84 of file autopilot.h.

Referenced by telecommand_task().

Function Documentation

static void autopilot_ClearSettings ( float  clear )

inlinestatic

Definition at line 159 of file autopilot.h.

References kill_throttle, settings_clear(), and settings_clear_flag.

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void autopilot_init

(

void

)

Autopilot inititalization.

Definition at line 175 of file autopilot.c.

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 autopilot_StoreSettings ( float  store )

inlinestatic

Definition at line 151 of file autopilot.h.

References kill_throttle, settings_store(), and settings_store_flag.

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

Definition at line 64 of file autopilot.c.

Variable Documentation

uint16_t autopilot_flight_time

flight time in seconds.

Definition at line 48 of file autopilot.c.

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 autopilot_ClearSettings(), and autopilot_StoreSettings().

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 38 of file sim_ap.c.

Referenced by attitude_loop(), autopilot_init(), Drift_correction(), h_ctl_course_loop(), h_ctl_pitch_loop(), h_ctl_roll_loop(), monitor_task(), nav_catapult_highrate_module(), navigation_task(), nps_autopilot_run_step(), nps_fdm_run_step(), takeoff_detect_periodic(), telecommand_task(), v_ctl_climb_loop(), v_ctl_set_pitch(), and v_ctl_set_throttle().

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().

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().