main_fbw.c File Reference

FBW ( FlyByWire ) process. More...

#include "firmwares/fixedwing/main_fbw.h"
#include "generated/airframe.h"
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/commands.h"
#include "subsystems/actuators.h"
#include "subsystems/electrical.h"
#include "subsystems/radio_control.h"
#include "firmwares/fixedwing/autopilot.h"
#include "paparazzi.h"
#include "mcu_periph/i2c.h"
#include "mcu_periph/uart.h"
#include "subsystems/datalink/telemetry.h"
#include "inter_mcu.h"
#include "link_mcu.h"

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Functions
void	radio_lost_mode (void)
	Defines behavior when the RC is lost, default goes to AUTO. More...
static void	handle_rc_frame (void)
void	radio_control_event (void)
void	radio_control_periodic_handle (void)
void	fbw_datalink_periodic_handle (void)
void	fbw_datalink_event_handle (void)
void	update_actuators (void)
void	inter_mcu_periodic_handle (void)
void	inter_mcu_event_handle (void)
static void	send_commands (struct transport_tx *trans, struct link_device *dev)
static void	send_fbw_status (struct transport_tx *trans, struct link_device *dev)
static void	send_rc (struct transport_tx *trans, struct link_device *dev)
void	periodic_telemetry_handle (void)
void	init_fbw (void)
void	event_task_fbw (void)
void	periodic_task_fbw (void)
void	handle_periodic_tasks_fbw (void)

Variables
uint8_t	fbw_mode
pprz_t	command_roll_trim
	Trim commands for roll, pitch and yaw. More...
pprz_t	command_pitch_trim
pprz_t	command_yaw_trim
volatile uint8_t	fbw_new_actuators = 0
uint8_t	ap_has_been_ok = false
tid_t	fbw_periodic_tid
	id for periodic_task_fbw() timer More...
tid_t	electrical_tid
	id for electrical_periodic() timer More...

Detailed Description

FBW ( FlyByWire ) process.

This process is responsible for decoding radio control, generating actuators signals either from the radio control or from the commands provided by the AP (autopilot) process. It also performs a telemetry task and a low level monitoring ( for parameters like the supply )

Definition in file main_fbw.c.

Function Documentation

void event_task_fbw

(

void

)

Definition at line 422 of file main_fbw.c.

References fbw_datalink_event_handle(), inter_mcu_event_handle(), mcu_event(), and radio_control_event().

Referenced by sim_periodic_task().

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void fbw_datalink_event_handle

(

void

)

Definition at line 150 of file main_fbw.c.

Referenced by event_task_fbw().

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void fbw_datalink_periodic_handle

(

void

)

Definition at line 149 of file main_fbw.c.

Referenced by periodic_task_fbw().

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void handle_periodic_tasks_fbw

(

void

)

Definition at line 446 of file main_fbw.c.

References electrical_periodic(), electrical_tid, fbw_periodic_tid, periodic_task_fbw(), and sys_time_check_and_ack_timer().

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static void handle_rc_frame ( void  )

inlinestatic

Definition at line 112 of file main_fbw.c.

References commands, fbw_mode, FBW_MODE_MANUAL, FBW_MODE_OF_PPRZ, fbw_new_actuators, radio_control, RADIO_MODE, and RadioControl::values.

Referenced by radio_control_event().

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void init_fbw

(

void

)

Definition at line 363 of file main_fbw.c.

References commands_failsafe, DefaultPeriodic, electrical_init(), electrical_tid, fbw_mode, FBW_MODE_FAILSAFE, fbw_new_actuators, fbw_periodic_tid, link_mcu_init(), mcu_init(), mcu_int_enable, radio_control_init(), register_periodic_telemetry(), send_actuators(), send_commands(), send_fbw_status(), send_rc(), SetCommands, and sys_time_register_timer().

Referenced by sim_init().

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void inter_mcu_event_handle

(

void

)

Definition at line 315 of file main_fbw.c.

Referenced by event_task_fbw().

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void inter_mcu_periodic_handle

(

void

)

Definition at line 314 of file main_fbw.c.

Referenced by periodic_task_fbw().

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void periodic_task_fbw

(

void

)

Definition at line 435 of file main_fbw.c.

References fbw_datalink_periodic_handle(), inter_mcu_periodic_handle(), periodic_telemetry_handle(), and radio_control_periodic_handle().

Referenced by handle_periodic_tasks_fbw(), and sim_periodic_task().

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void periodic_telemetry_handle

(

void

)

Definition at line 353 of file main_fbw.c.

References DefaultChannel, DefaultDevice, and DefaultPeriodic.

Referenced by periodic_task_fbw().

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void radio_control_event

(

void

)

Definition at line 121 of file main_fbw.c.

References handle_rc_frame(), and RadioControlEvent.

Referenced by event_task_fbw().

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void radio_control_periodic_handle

(

void

)

Definition at line 126 of file main_fbw.c.

References fbw_mode, FBW_MODE_MANUAL, radio_control, radio_control_periodic_task(), radio_lost_mode(), RC_REALLY_LOST, and RadioControl::status.

Referenced by periodic_task_fbw().

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void radio_lost_mode

(

void

)

Defines behavior when the RC is lost, default goes to AUTO.

Definition at line 88 of file main_fbw.c.

References fbw_mode, and FBW_MODE_AUTO.

Referenced by radio_control_periodic_handle().

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

static

Definition at line 320 of file main_fbw.c.

References commands.

Referenced by init_fbw().

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

static

Definition at line 326 of file main_fbw.c.

References Electrical::current, electrical, fbw_mode, RadioControl::frame_rate, radio_control, RadioControl::status, and Electrical::vsupply.

Referenced by init_fbw(), and link_mcu_init().

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

static

Definition at line 332 of file main_fbw.c.

References radio_control, RADIO_CONTROL_NB_CHANNEL, and RadioControl::values.

Referenced by init_fbw().

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void update_actuators

(

void

)

Definition at line 181 of file main_fbw.c.

Variable Documentation

uint8_t ap_has_been_ok = false

Definition at line 74 of file main_fbw.c.

pprz_t command_pitch_trim

Definition at line 69 of file main_fbw.c.

pprz_t command_roll_trim

Trim commands for roll, pitch and yaw.

These are updated from the trim commands in ap_state via inter_mcu

Definition at line 68 of file main_fbw.c.

pprz_t command_yaw_trim

Definition at line 70 of file main_fbw.c.

tid_t electrical_tid

id for electrical_periodic() timer

Definition at line 77 of file main_fbw.c.

Referenced by handle_periodic_tasks(), handle_periodic_tasks_fbw(), init_fbw(), and main_init().

uint8_t fbw_mode

Definition at line 63 of file main_fbw.c.

Referenced by fbw_on_ap_command(), fbw_on_rc_frame(), fbw_safety_check(), handle_rc_frame(), init_fbw(), main_init(), main_periodic(), radio_control_periodic_handle(), radio_lost_mode(), send_fbw_status(), and telemetry_periodic().

volatile uint8_t fbw_new_actuators = 0

Definition at line 72 of file main_fbw.c.

Referenced by handle_rc_frame(), and init_fbw().

tid_t fbw_periodic_tid

id for periodic_task_fbw() timer

Definition at line 76 of file main_fbw.c.

Referenced by handle_periodic_tasks_fbw(), and init_fbw().