main_ap.h File Reference

AP ( AutoPilot ) process API. More...

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Functions
void	init_ap (void)
void	handle_periodic_tasks_ap (void)
void	event_task_ap (void)
void	sensors_task (void)
	Run at PERIODIC_FREQUENCY (60Hz if not defined) More...
void	navigation_task (void)
	Compute desired_course. More...
void	monitor_task (void)
	monitor stuff run at 1Hz More...
void	reporting_task (void)
	Send a series of initialisation messages followed by a stream of periodic ones. More...
void	attitude_loop (void)

Detailed Description

AP ( AutoPilot ) process API.

Definition in file main_ap.h.

Function Documentation

void attitude_loop

(

void

)

Definition at line 554 of file main_ap.c.

References ap_state, autopilot_flight_time, h_ctl_aileron_setpoint, h_ctl_attitude_loop(), h_ctl_elevator_setpoint, h_ctl_pitch_setpoint, inter_mcu_received_ap, kill_throttle, launch, link_mcu_send(), MAX_PPRZ, nav_pitch, nav_throttle_setpoint, pprz_mode, PPRZ_MODE_AUTO2, PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, TRIM_PPRZ, TRIM_UPPRZ, v_ctl_climb_loop(), v_ctl_landing_loop(), v_ctl_mode, V_CTL_MODE_AUTO_CLIMB, V_CTL_MODE_AUTO_THROTTLE, V_CTL_MODE_LANDING, v_ctl_pitch_setpoint, v_ctl_throttle_setpoint, v_ctl_throttle_slew(), v_ctl_throttle_slewed, and vsupply.

Referenced by event_task_ap(), handle_periodic_tasks_ap(), and sim_periodic_task().

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void event_task_ap

(

void

)

Definition at line 679 of file main_ap.c.

References attitude_loop(), BaroEvent, DatalinkEvent, inter_mcu_received_fbw, link_mcu_event_task(), mcu_event(), and telecommand_task().

Referenced by sim_periodic_task().

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void handle_periodic_tasks_ap

(

void

)

Definition at line 264 of file main_ap.c.

References attitude_loop(), baro_periodic(), LED_PERIODIC, monitor_task(), navigation_task(), reporting_task(), sensors_task(), and sys_time_check_and_ack_timer().

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void init_ap

(

void

)

Todo:

, properly implement or remove

init done in main_fbw in single MCU

Todo:

: properly implement/fix a triggered attitude loop

• start interrupt task

Definition at line 174 of file main_ap.c.

References ABI_BROADCAST, ahrs_aligner_init(), ahrs_init(), ap_state, audio_telemetry_init(), autopilot_init(), baro_init(), BARO_PERIODIC_FREQUENCY, Imu::body_to_imu, COMMAND_PITCH_TRIM, COMMAND_ROLL_TRIM, COMMAND_YAW_TRIM, CONTROL_FREQUENCY, downlink_init(), h_ctl_init(), imu, IO0DIR, IO0SET, link_mcu_init(), mcu_int_enable, nav_init(), NAVIGATION_FREQUENCY, orientationGetQuat_f(), PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, settings_init(), stateInit(), sys_time_register_timer(), TELEMETRY_FREQUENCY, and v_ctl_init().

Referenced by sim_init().

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void monitor_task

(

void

)

monitor stuff run at 1Hz

Definition at line 647 of file main_ap.c.

References autopilot_flight_time, CATASTROPHIC_BAT_KILL_DELAY, datalink_time, DefaultChannel, DefaultDevice, dist2_to_home, KILL_MODE_DISTANCE, kill_throttle, launch, MIN_SPEED_FOR_TAKEOFF, sys_time::nb_sec, Square, stateGetHorizontalSpeedNorm_f(), and vsupply.

Referenced by handle_periodic_tasks_ap(), and sim_monitor_task().

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void navigation_task

(

void

)

Compute desired_course.

Definition at line 490 of file main_ap.c.

References autopilot_send_mode(), callTCAS(), common_nav_periodic_task_4Hz(), DefaultChannel, DefaultDevice, gps_lost, h_ctl_auto1_rate, h_ctl_course_loop(), lateral_mode, LATERAL_MODE_COURSE, launch, nav_home(), nav_periodic_task(), nav_without_gps(), pprz_mode, PPRZ_MODE_AUTO2, PPRZ_MODE_GPS_OUT_OF_ORDER, PPRZ_MODE_HOME, SEND_NAVIGATION, v_ctl_altitude_loop(), v_ctl_mode, and V_CTL_MODE_AUTO_ALT.

Referenced by handle_periodic_tasks_ap(), and sim_nav_task().

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void reporting_task

(

void

)

Send a series of initialisation messages followed by a stream of periodic ones.

Called at 60Hz.

Definition at line 462 of file main_ap.c.

References DefaultChannel, DefaultDevice, DefaultPeriodic, and send_autopilot_version().

Referenced by handle_periodic_tasks_ap(), and sim_periodic_task().

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void sensors_task

(

void

)

Run at PERIODIC_FREQUENCY (60Hz if not defined)

Definition at line 619 of file main_ap.c.

References update_ahrs_from_sim().

Referenced by handle_periodic_tasks_ap(), and sim_periodic_task().

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