autopilot_static.h File Reference

Fixedwing autopilot modes (static implementation). More...

#include "autopilot.h"

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Macros
#define	AP_MODE_MANUAL   0
	AP modes. More...
#define	AP_MODE_AUTO1   1
#define	AP_MODE_AUTO2   2
#define	AP_MODE_HOME   3
#define	AP_MODE_GPS_OUT_OF_ORDER   4
#define	AP_MODE_NB   5
#define	CONTROL_FREQUENCY   60
#define	NAVIGATION_FREQUENCY   4

Functions
void	autopilot_static_init (void)
	Static autopilot functions. More...
void	autopilot_static_periodic (void)
void	autopilot_static_on_rc_frame (void)
	Function to be called when a message from FBW is available. More...
void	autopilot_static_set_mode (uint8_t new_autopilot_mode)
void	autopilot_static_SetModeHandler (float new_autopilot_mode)
	AP mode setting handler. More...
void	autopilot_static_set_motors_on (bool motors_on)
void	navigation_task (void)
	Control loops FIXME should be somewhere else. More...
void	attitude_loop (void)

Detailed Description

Fixedwing autopilot modes (static implementation).

Definition in file autopilot_static.h.

Macro Definition Documentation

#define AP_MODE_AUTO1   1

Definition at line 37 of file autopilot_static.h.

Referenced by autopilot_static_on_rc_frame(), cam_periodic(), mavlink_send_heartbeat(), periodic_auto1_commands(), pprz_mode_update(), and takeoff_detect_periodic().

#define AP_MODE_AUTO2   2

Definition at line 38 of file autopilot_static.h.

Referenced by attitude_loop(), autopilot_static_init(), autopilot_static_on_rc_frame(), cam_periodic(), distributed_circular(), gvf_control_2D(), mavlink_send_heartbeat(), navigation_task(), pprz_mode_update(), takeoff_detect_periodic(), and vPoint().

#define AP_MODE_GPS_OUT_OF_ORDER   4

Definition at line 40 of file autopilot_static.h.

Referenced by autopilot_static_on_rc_frame(), navigation_task(), and pprz_mode_update().

#define AP_MODE_HOME   3

Definition at line 39 of file autopilot_static.h.

Referenced by autopilot_static_on_rc_frame(), autopilot_static_periodic(), autopilot_static_set_mode(), autopilot_static_SetModeHandler(), failsafe_check(), mavlink_send_heartbeat(), navigation_task(), and pprz_mode_update().

#define AP_MODE_MANUAL   0

AP modes.

Definition at line 36 of file autopilot_static.h.

Referenced by autopilot_static_on_rc_frame(), h_ctl_pitch_loop(), h_ctl_roll_loop(), mavlink_send_heartbeat(), pprz_mode_update(), v_ctl_set_pitch(), and v_ctl_set_throttle().

#define AP_MODE_NB   5

Definition at line 41 of file autopilot_static.h.

#define CONTROL_FREQUENCY   60

Definition at line 67 of file autopilot_static.h.

Referenced by init_ap(), and v_ctl_landing_loop().

#define NAVIGATION_FREQUENCY   4

Definition at line 72 of file autopilot_static.h.

Referenced by init_ap().

Function Documentation

void attitude_loop

(

void

)

Definition at line 276 of file autopilot_static.c.

References AP_MODE_AUTO2, ap_state, autopilot, autopilot_get_mode(), pprz_autopilot::flight_time, h_ctl_aileron_setpoint, h_ctl_attitude_loop(), h_ctl_elevator_setpoint, h_ctl_pitch_setpoint, inter_mcu_received_ap, pprz_autopilot::kill_throttle, pprz_autopilot::launch, link_mcu_send(), MAX_PPRZ, nav_pitch, nav_throttle_setpoint, PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, TRIM_PPRZ, TRIM_UPPRZ, v_ctl_climb_loop(), v_ctl_landing_loop(), v_ctl_mode, V_CTL_MODE_AUTO_CLIMB, V_CTL_MODE_AUTO_THROTTLE, V_CTL_MODE_LANDING, v_ctl_pitch_setpoint, v_ctl_throttle_setpoint, v_ctl_throttle_slew(), v_ctl_throttle_slewed, and vsupply.

Referenced by autopilot_static_periodic(), handle_periodic_tasks_ap(), and sim_periodic_task().

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void autopilot_static_init

(

void

)

Static autopilot functions.

Static autopilot functions.

Todo:

, properly implement or remove

Todo:

: properly implement/fix a triggered attitude loop

Definition at line 90 of file autopilot_static.c.

void autopilot_static_on_rc_frame

(

void

)

Function to be called when a message from FBW is available.

In AUTO1 mode, compute roll setpoint and pitch setpoint from RADIO_ROLL and RADIO_PITCH

Roll is bounded between [-AUTO1_MAX_ROLL;AUTO1_MAX_ROLL]

Pitch is bounded between [-AUTO1_MAX_PITCH;AUTO1_MAX_PITCH]

Else asynchronously set by h_ctl_course_loop()

In AUTO1, throttle comes from RADIO_THROTTLE In MANUAL, the value is copied to get it in the telemetry

else asynchronously set by v_ctl_climb_loop();

Definition at line 112 of file autopilot_static.c.

void autopilot_static_periodic

(

void

)

Definition at line 104 of file autopilot_static.c.

void autopilot_static_set_mode

(

uint8_t

new_autopilot_mode

)

Definition at line 188 of file autopilot_static.c.

void autopilot_static_set_motors_on

(

bool

motors_on

)

Definition at line 200 of file autopilot_static.c.

void autopilot_static_SetModeHandler

(

float

mode

)

AP mode setting handler.

Checks RC status before calling autopilot_static_set_mode function

Definition at line 195 of file autopilot_static.c.

void navigation_task

(

void

)

Control loops FIXME should be somewhere else.

Control loops FIXME should be somewhere else.

Definition at line 212 of file autopilot_static.c.

References AP_MODE_AUTO2, AP_MODE_GPS_OUT_OF_ORDER, AP_MODE_HOME, autopilot, autopilot_get_mode(), autopilot_send_mode(), autopilot_set_mode(), callTCAS(), common_nav_periodic_task_4Hz(), DefaultChannel, DefaultDevice, gps_lost, h_ctl_auto1_rate, h_ctl_course_loop(), lateral_mode, LATERAL_MODE_COURSE, pprz_autopilot::launch, nav_home(), nav_periodic_task(), nav_without_gps(), SEND_NAVIGATION, v_ctl_altitude_loop(), v_ctl_mode, and V_CTL_MODE_AUTO_ALT.

Referenced by handle_periodic_tasks_ap(), and sim_nav_task().

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