main_fbw.h File Reference

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Macros
#define	STATIC_INLINE   static inline
#define	RC_LOST_FBW_MODE   FBW_MODE_FAILSAFE
	mode to enter when RC is lost while using a mode with RC input More...
#define	RC_LOST_IN_AUTO_FBW_MODE   FBW_MODE_AUTO
	mode to enter when AP is lost while using autopilot More...
#define	AP_LOST_FBW_MODE   FBW_MODE_FAILSAFE
	mode to enter when AP is lost while using autopilot More...
#define	RADIO_FBW_MODE   RADIO_MODE
	Switching between FBW and autopilot is done with RADIO_FBW_MODE: default is to re-use RADIO_MODE. More...

Functions
STATIC_INLINE void	main_init (void)
	Main initialization. More...
STATIC_INLINE void	main_event (void)
STATIC_INLINE void	handle_periodic_tasks (void)
STATIC_INLINE void	main_periodic (void)
STATIC_INLINE void	telemetry_periodic (void)

Detailed Description

Fly By Wire:

Reads Radiocontrol Reads Intermcu Sets Actuators

if no rc but autopilot then RC_LOST_FBW_MODE (define below) if no rc while in auto mode then RC_LOST_IN_AUTO_FBW_MODE (define below) if no ap but rc then AP_LOST_FBW_MODE (define below)

Definition in file main_fbw.h.

Macro Definition Documentation

#define AP_LOST_FBW_MODE   FBW_MODE_FAILSAFE

mode to enter when AP is lost while using autopilot

Definition at line 57 of file main_fbw.h.

Referenced by fbw_on_rc_frame(), and fbw_safety_check().

#define RADIO_FBW_MODE   RADIO_MODE

Switching between FBW and autopilot is done with RADIO_FBW_MODE: default is to re-use RADIO_MODE.

Definition at line 64 of file main_fbw.h.

Referenced by fbw_on_rc_frame().

#define RC_LOST_FBW_MODE   FBW_MODE_FAILSAFE

mode to enter when RC is lost while using a mode with RC input

Definition at line 47 of file main_fbw.h.

Referenced by fbw_safety_check().

#define RC_LOST_IN_AUTO_FBW_MODE   FBW_MODE_AUTO

mode to enter when AP is lost while using autopilot

Definition at line 52 of file main_fbw.h.

Referenced by fbw_safety_check().

#define STATIC_INLINE   static inline

Definition at line 42 of file main_fbw.h.

Function Documentation

STATIC_INLINE void handle_periodic_tasks

(

void

)

Definition at line 243 of file main.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(), nps_autopilot_run_step(), thd_ap(), and thd_fbw().

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STATIC_INLINE void main_event ( void  )

inline

Definition at line 357 of file main.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 162 of file main.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 270 of file main.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 294 of file main.c.

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

Referenced by handle_periodic_tasks().

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