main_fbw.c File Reference

Rotorcraft FBW main loop. More...

#include <inttypes.h>
#include "mcu.h"
#include "led.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 "subsystems/intermcu/intermcu_fbw.h"
#include "firmwares/rotorcraft/main_fbw.h"
#include "firmwares/rotorcraft/autopilot_rc_helpers.h"
#include "generated/modules.h"

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Macros
#define	MODULES_C
#define	And(x, y)   ((x) && (y))
#define	Or(x, y)   ((x) || (y))
#define	Min(x, y)   (x < y ? x : y)
#define	Max(x, y)   (x > y ? x : y)
#define	LessThan(_x, _y)   ((_x) < (_y))
#define	MoreThan(_x, _y)   ((_x) > (_y))

Enumerations
enum	fbw_mode_enum { FBW_MODE_MANUAL = 0, FBW_MODE_AUTO = 1, FBW_MODE_FAILSAFE = 2 }
	Fly by wire modes. More...

Functions
int	main (void)
	Real main function handling initialization, periodic- and event functions. More...
STATIC_INLINE void	main_init (void)
	Main initialization. More...
STATIC_INLINE void	handle_periodic_tasks (void)
STATIC_INLINE void	telemetry_periodic (void)
STATIC_INLINE void	fbw_safety_check (void)
STATIC_INLINE void	main_periodic (void)
static void	fbw_on_rc_frame (void)
	Callback when we received an RC frame. More...
static void	fbw_on_ap_command (void)
	Callback when receive commands from the AP. More...
STATIC_INLINE void	main_event (void)

Variables
fbw_mode_enum	fbw_mode
bool	fbw_motors_on = false
tid_t	main_periodic_tid
	id for main_periodic() timer More...
tid_t	modules_tid
	id for modules_periodic_task() timer More...
tid_t	radio_control_tid
	id for radio_control_periodic_task() timer More...
tid_t	electrical_tid
	id for electrical_periodic() timer More...
tid_t	telemetry_tid
	id for telemetry_periodic() timer More...

Detailed Description

Rotorcraft FBW main loop.

Definition in file main_fbw.c.

Macro Definition Documentation

#define And	(		x,
			y
	)		((x) && (y))

Definition at line 50 of file main_fbw.c.

#define LessThan	(		_x,
			_y
	)		((_x) < (_y))

Definition at line 54 of file main_fbw.c.

#define Max	(		x,
			y
	)		(x > y ? x : y)

Definition at line 53 of file main_fbw.c.

Referenced by airspeed_adc_update(), eas_from_dynamic_pressure(), formation_flight(), gls_run(), h_ctl_course_loop(), h_ctl_pitch_loop(), h_ctl_roll_loop(), ms45xx_i2c_event(), nav_anemotaxis(), nav_approaching_xy(), nav_circle_XY(), nav_eight(), nav_route(), nav_route_xy(), nav_survey_rectangle(), nav_survey_rectangle_init(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), pbn_read_event(), periodic_report_sysmon(), potential_task(), spi_submit(), SpiTransmit(), and tcas_periodic_task_4Hz().

#define Min	(		x,
			y
	)		(x < y ? x : y)

Definition at line 52 of file main_fbw.c.

Referenced by gh_set_max_speed(), gps_ubx_read_message(), guidance_h_traj_run(), guidance_v_run(), h_ctl_course_loop(), mavlink_send_gps_status(), nav_circle_XY(), nav_survey_rectangle(), nav_survey_rectangle_init(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), parse_xsens700_msg(), parse_xsens_msg(), RadioControlEventImp(), and tcas_periodic_task_4Hz().

#define MODULES_C

Definition at line 46 of file main_fbw.c.

#define MoreThan	(		_x,
			_y
	)		((_x) > (_y))

Definition at line 55 of file main_fbw.c.

#define Or	(		x,
			y
	)		((x) || (y))

Definition at line 51 of file main_fbw.c.

Enumeration Type Documentation

enum fbw_mode_enum

Fly by wire modes.

Enumerator
FBW_MODE_MANUAL
FBW_MODE_AUTO
FBW_MODE_FAILSAFE

Definition at line 59 of file main_fbw.c.

Function Documentation

static void fbw_on_ap_command ( void  )

static

Callback when receive commands from the AP.

Definition at line 275 of file main_fbw.c.

References fbw_mode, FBW_MODE_AUTO, intermcu_commands, and SetCommands.

Referenced by main_event().

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static void fbw_on_rc_frame ( void  )

static

Callback when we received an RC frame.

Definition at line 244 of file main_fbw.c.

References AP_LOST_FBW_MODE, commands, commands_failsafe, fbw_mode, FBW_MODE_AUTO, FBW_MODE_MANUAL, fbw_motors_on, intermcu, INTERMCU_LOST, intermcu_on_rc_frame(), MIN_PPRZ, radio_control, RADIO_FBW_MODE, SetCommands, intermcu_t::status, and RadioControl::values.

Referenced by main_event().

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STATIC_INLINE void fbw_safety_check

(

void

)

Definition at line 152 of file main_fbw.c.

References AP_LOST_FBW_MODE, fbw_mode, FBW_MODE_AUTO, FBW_MODE_FAILSAFE, FBW_MODE_MANUAL, intermcu, INTERMCU_LOST, radio_control, RC_LOST_FBW_MODE, RC_LOST_IN_AUTO_FBW_MODE, RC_REALLY_LOST, RadioControl::status, and intermcu_t::status.

Referenced by main_periodic().

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STATIC_INLINE void handle_periodic_tasks

(

void

)

Definition at line 123 of file main_fbw.c.

References baro_periodic(), electrical_periodic(), electrical_tid, failsafe_check(), main_periodic(), main_periodic_tid, modules_tid, radio_control_periodic_task(), radio_control_tid, sys_time_check_and_ack_timer(), telemetry_periodic(), and telemetry_tid.

Referenced by main().

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int main

(

void

)

Real main function handling initialization, periodic- and event functions.

Definition at line 75 of file main_fbw.c.

References handle_periodic_tasks(), main_event(), and main_init().

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STATIC_INLINE void main_event ( void  )

inline

Definition at line 283 of file main_fbw.c.

References autopilot_on_rc_frame(), autopilot_rc, BaroEvent, DatalinkEvent, DetectGroundEvent(), fbw_on_ap_command(), fbw_on_rc_frame(), InterMcuEvent(), mcu_event(), and RadioControlEvent.

Referenced by main().

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STATIC_INLINE void main_init ( void  )

inline

Main initialization.

Definition at line 88 of file main_fbw.c.

References ahrs_aligner_init(), ahrs_init(), autopilot_init(), baro_init(), BARO_PERIODIC_FREQUENCY, Imu::body_to_imu, downlink_init(), electrical_init(), electrical_tid, failsafe_check(), fbw_mode, FBW_MODE_FAILSAFE, imu, intermcu_init(), main_periodic_tid, mcu_init(), mcu_int_enable, modules_tid, motor_mixing_init(), orientationGetQuat_f(), radio_control_init(), radio_control_tid, settings_init(), stateInit(), sys_time_register_timer(), TELEMETRY_FREQUENCY, telemetry_tid, and waypoints_localize_all().

Referenced by main().

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STATIC_INLINE void main_periodic ( void  )

inline

Definition at line 188 of file main_fbw.c.

References autopilot_flight_time, autopilot_in_flight, autopilot_mode, autopilot_motors_on, autopilot_periodic(), commands, commands_failsafe, datalink_time, fbw_mode, FBW_MODE_AUTO, FBW_MODE_FAILSAFE, FBW_MODE_MANUAL, fbw_motors_on, fbw_safety_check(), intermcu, intermcu_periodic(), intermcu_set_actuators(), LED_OFF, LED_ON, LED_PERIODIC, LED_TOGGLE, PPRZ_BAUD, and SetCommands.

Referenced by handle_periodic_tasks().

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STATIC_INLINE void telemetry_periodic

(

void

)

Definition at line 142 of file main_fbw.c.

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

Referenced by handle_periodic_tasks().

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Variable Documentation

tid_t electrical_tid

id for electrical_periodic() timer

Definition at line 71 of file main_fbw.c.

fbw_mode_enum fbw_mode

Definition at line 60 of file main_fbw.c.

bool fbw_motors_on = false

Definition at line 61 of file main_fbw.c.

Referenced by fbw_on_rc_frame(), and main_periodic().

tid_t main_periodic_tid

id for main_periodic() timer

Definition at line 68 of file main_fbw.c.

Referenced by handle_periodic_tasks(), and main_init().

tid_t modules_tid

id for modules_periodic_task() timer

Definition at line 69 of file main_fbw.c.

Referenced by handle_periodic_tasks(), and main_init().

tid_t radio_control_tid

id for radio_control_periodic_task() timer

Definition at line 70 of file main_fbw.c.

Referenced by handle_periodic_tasks(), and main_init().

tid_t telemetry_tid

id for telemetry_periodic() timer

Definition at line 72 of file main_fbw.c.

Referenced by handle_periodic_tasks(), and main_init().