autopilot_firmware.c File Reference

Fixedwing specific autopilot interface and initialization. More...

#include "firmwares/fixedwing/autopilot_firmware.h"
#include "state.h"
#include "firmwares/fixedwing/nav.h"
#include <stdint.h>
#include "subsystems/datalink/telemetry.h"
#include "generated/settings.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include <CTRL_TYPE_H>

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Functions
static void	send_mode (struct transport_tx *trans, struct link_device *dev)
static void	send_estimator (struct transport_tx *trans, struct link_device *dev)
static void	send_bat (struct transport_tx *trans, struct link_device *dev)
static void	send_energy (struct transport_tx *trans, struct link_device *dev)
static void	send_desired (struct transport_tx *trans, struct link_device *dev)
static void	send_airspeed (struct transport_tx *trans, struct link_device *dev)
void	autopilot_send_mode (void)
	Report autopilot mode on default downlink channel. More...
void	autopilot_firmware_init (void)
	Init function. More...

Variables
uint16_t	vsupply
	Supply voltage in deciVolt. More...
int32_t	current
	Supply current in milliAmpere. More...
float	energy
	Energy consumption (mAh) This is the ap copy of the measurement from fbw FIXME use electrical module ? More...
uint8_t	lateral_mode
uint8_t	mcu1_status
	Second MCU status (FBW part) More...
uint8_t	rc_settings_mode = 0

Detailed Description

Fixedwing specific autopilot interface and initialization.

Definition in file autopilot_firmware.c.

Function Documentation

void autopilot_firmware_init

(

void

)

Init function.

Definition at line 133 of file autopilot_firmware.c.

Referenced by autopilot_init().

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void autopilot_send_mode

(

void

)

Report autopilot mode on default downlink channel.

Report autopilot mode on default downlink channel.

Definition at line 125 of file autopilot_firmware.c.

References DefaultChannel, DefaultDevice, and send_mode().

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

static

Definition at line 110 of file autopilot_firmware.c.

References dev, stateGetAirspeed_f(), v_ctl_auto_airspeed_controlled, v_ctl_auto_airspeed_setpoint, and v_ctl_auto_groundspeed_setpoint.

Referenced by autopilot_firmware_init().

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

static

Definition at line 70 of file autopilot_firmware.c.

References autopilot, block_time, current, energy, pprz_autopilot::flight_time, pprz_autopilot::kill_throttle, stage_time, v_ctl_throttle_slewed, and vsupply.

Referenced by autopilot_firmware_init().

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

static

Definition at line 99 of file autopilot_firmware.c.

References desired_x, desired_y, h_ctl_course_setpoint, h_ctl_pitch_loop_setpoint, h_ctl_roll_setpoint, v_ctl_altitude_setpoint, v_ctl_auto_airspeed_setpoint, and v_ctl_climb_setpoint.

Referenced by autopilot_firmware_init().

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

static

Definition at line 84 of file autopilot_firmware.c.

References current, energy, and vsupply.

Referenced by autopilot_firmware_init().

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

static

Definition at line 64 of file autopilot_firmware.c.

References stateGetPositionUtm_f(), and stateGetSpeedEnu_f().

Referenced by autopilot_firmware_init().

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

static

Definition at line 58 of file autopilot_firmware.c.

References autopilot, horizontal_mode, lateral_mode, mcu1_status, pprz_autopilot::mode, rc_settings_mode, and v_ctl_mode.

Referenced by autopilot_firmware_init(), and autopilot_send_mode().

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Variable Documentation

int32_t current

Supply current in milliAmpere.

This the ap copy of the measurement from fbw FIXME use electrical module ?

Definition at line 36 of file autopilot_firmware.c.

Referenced by autopilot_firmware_init(), autopilot_generated_on_rc_frame(), autopilot_static_on_rc_frame(), send_bat(), and send_energy().

float energy

Energy consumption (mAh) This is the ap copy of the measurement from fbw FIXME use electrical module ?

Definition at line 37 of file autopilot_firmware.c.

Referenced by autopilot_firmware_init(), autopilot_generated_on_rc_frame(), autopilot_static_on_rc_frame(), generic_com_periodic(), send_bat(), and send_energy().

uint8_t lateral_mode

Definition at line 39 of file autopilot_firmware.c.

Referenced by autopilot_static_init(), fly_to_xy(), gvf_control_2D(), h_ctl_guidance_loop(), nav_without_gps(), navigation_task(), send_mode(), and v_ctl_landing_loop().

uint8_t mcu1_status

Second MCU status (FBW part)

Definition at line 40 of file autopilot_firmware.c.

Referenced by mcu1_status_update(), and send_mode().

uint8_t rc_settings_mode = 0

Definition at line 55 of file autopilot_firmware.c.

Referenced by send_mode().

uint16_t vsupply

Supply voltage in deciVolt.

This the ap copy of the measurement from fbw FIXME use electrical module ?

Definition at line 35 of file autopilot_firmware.c.

Referenced by attitude_loop(), autopilot_firmware_init(), autopilot_generated_on_rc_frame(), autopilot_static_on_rc_frame(), gsm_send_report_continue(), monitor_task(), send_bat(), send_energy(), and v_ctl_guidance_loop().