Paparazzi UAS
v5.14.0_stable-0-g3f680d1
Paparazzi is a free software Unmanned Aircraft System.
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autopilot_rc_helpers.h
Go to the documentation of this file.
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/*
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* Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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#ifndef AUTOPILOT_RC_HELPERS_H
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#define AUTOPILOT_RC_HELPERS_H
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#include "generated/airframe.h"
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#include "
subsystems/radio_control.h
"
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static
inline
bool
rc_mode_switch
(
uint8_t
chan,
uint8_t
pos,
uint8_t
max)
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{
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if
(
radio_control
.
status
!=
RC_OK
)
return
false
;
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if
(pos >= max)
return
false
;
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int32_t
v = (
int32_t
)
radio_control
.
values
[chan] -
MIN_PPRZ
;
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// round final value
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int32_t
p
= (((((
int32_t
)max - 1) * 10 * v) / (
MAX_PPRZ
-
MIN_PPRZ
)) + 5) / 10;
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Bound(
p
, 0, max - 1);
// just in case
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return
pos == (
uint8_t
)
p
;
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}
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#ifdef RADIO_MODE
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#define RCMode0() rc_mode_switch(RADIO_MODE, 0, 3)
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#define RCMode1() rc_mode_switch(RADIO_MODE, 1, 3)
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#define RCMode2() rc_mode_switch(RADIO_MODE, 2, 3)
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#endif
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#endif
/* AUTOPILOT_RC_HELPERS_H */
MIN_PPRZ
#define MIN_PPRZ
Definition:
paparazzi.h:9
RadioControl::status
uint8_t status
Definition:
radio_control.h:64
radio_control.h
RadioControl::values
pprz_t values[RADIO_CONTROL_NB_CHANNEL]
Definition:
radio_control.h:69
radio_control
struct RadioControl radio_control
Definition:
radio_control.c:30
int32_t
signed long int32_t
Definition:
types.h:19
RC_OK
#define RC_OK
Definition:
radio_control.h:56
uint8_t
unsigned char uint8_t
Definition:
types.h:14
p
static float p[2][2]
Definition:
ins_alt_float.c:268
MAX_PPRZ
#define MAX_PPRZ
Definition:
paparazzi.h:8
rc_mode_switch
static bool rc_mode_switch(uint8_t chan, uint8_t pos, uint8_t max)
RC mode switch position helper switch positions threshold are evenly spaced.
Definition:
autopilot_rc_helpers.h:41
sw
airborne
firmwares
fixedwing
autopilot_rc_helpers.h
Generated on Sat Feb 9 2019 07:05:38 for Paparazzi UAS by
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