Paparazzi UAS  v5.10_stable-5-g83a0da5-dirty
Paparazzi is a free software Unmanned Aircraft System.
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nps_autopilot.h
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1 #ifndef NPS_AUTOPILOT_H
2 #define NPS_AUTOPILOT_H
3 
4 #include "generated/airframe.h"
5 
6 #include "nps_radio_control.h"
7 
14 #ifndef NPS_COMMANDS_NB
15 #if defined MOTOR_MIXING_NB_MOTOR
16 #define NPS_COMMANDS_NB MOTOR_MIXING_NB_MOTOR
17 #else
18 #ifdef NPS_ACTUATOR_NAMES
19 #define NPS_COMMANDS_NB COMMANDS_NB
20 #else
21 /* not using explicitly set NPS_ACTUATOR_NAMES -> throttle,roll,pitch,yaw commands */
22 #define NPS_COMMANDS_NB 4
23 #endif
24 #endif
25 #endif
26 
27 struct NpsAutopilot {
29  bool launch;
30 };
31 
32 extern struct NpsAutopilot autopilot;
33 
34 extern bool nps_bypass_ahrs;
35 extern bool nps_bypass_ins;
36 extern void sim_overwrite_ahrs(void);
37 extern void sim_overwrite_ins(void);
38 
39 extern void nps_autopilot_init(enum NpsRadioControlType type, int num_script, char *js_dev);
40 extern void nps_autopilot_run_step(double time);
41 extern void nps_autopilot_run_systime_step(void);
42 
43 
44 #endif /* NPS_AUTOPILOT_H */
45 
bool nps_bypass_ins
#define NPS_COMMANDS_NB
Number of commands sent to the FDM of NPS.
Definition: nps_autopilot.h:22
NpsRadioControlType
bool nps_bypass_ahrs
void nps_autopilot_run_step(double time)
void sim_overwrite_ahrs(void)
struct NpsAutopilot autopilot
void nps_autopilot_run_systime_step(void)
double commands[NPS_COMMANDS_NB]
Definition: nps_autopilot.h:28
void sim_overwrite_ins(void)
void nps_autopilot_init(enum NpsRadioControlType type, int num_script, char *js_dev)