intermcu_ap.h File Reference

Rotorcraft Inter-MCU on the autopilot. More...

#include "subsystems/intermcu.h"
#include "generated/airframe.h"

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Data Structures
struct	fbw_status_t

Macros
#define	RADIO_THROTTLE   0
#define	RADIO_ROLL   1
#define	RADIO_PITCH   2
#define	RADIO_YAW   3
#define	RADIO_MODE   4
#define	RADIO_KILL_SWITCH   5
#define	RADIO_AUX1   5
#define	RADIO_AUX2   6
#define	RADIO_AUX3   7
#define	RADIO_CONTROL_NB_CHANNEL   8

Functions
void	intermcu_set_actuators (pprz_t *command_values, uint8_t ap_mode)
void	RadioControlEvent (void(*frame_handler)(void))
void	intermcu_send_spektrum_bind (void)
void	intermcu_set_enabled (bool value)

Detailed Description

Rotorcraft Inter-MCU on the autopilot.

Definition in file intermcu_ap.h.

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Data Structure Documentation

struct fbw_status_t

Definition at line 51 of file intermcu_ap.h.

Data Fields
int32_t	current
uint8_t	frame_rate
uint8_t	mode
uint8_t	rc_status
uint16_t	vsupply

Macro Definition Documentation

#define RADIO_AUX1   5

Definition at line 45 of file intermcu_ap.h.

Referenced by intermcu_on_rc_frame(), and periodic_auto1_commands().

#define RADIO_AUX2   6

Definition at line 46 of file intermcu_ap.h.

Referenced by intermcu_on_rc_frame(), and periodic_auto1_commands().

#define RADIO_AUX3   7

Definition at line 47 of file intermcu_ap.h.

Referenced by intermcu_on_rc_frame(), and periodic_auto1_commands().

#define RADIO_CONTROL_NB_CHANNEL   8

Definition at line 48 of file intermcu_ap.h.

Referenced by intermcu_on_rc_frame(), link_mcu_on_can_msg(), parse_mavpilot_msg(), ppm_arch_init(), radio_control_impl_init(), radio_control_init(), send_rc(), and spektrum_event().

#define RADIO_KILL_SWITCH   5

Definition at line 44 of file intermcu_ap.h.

Referenced by fbw_on_rc_frame(), intermcu_on_rc_frame(), and send_rotorcraft_rc().

#define RADIO_MODE   4

Definition at line 43 of file intermcu_ap.h.

Referenced by ap_mode_of_3way_switch(), handle_rc_frame(), intermcu_on_rc_frame(), parse_rc_3ch_datalink(), parse_rc_4ch_datalink(), pprz_mode_update(), rc_datalink_normalize(), and send_rotorcraft_rc().

#define RADIO_PITCH   2

Definition at line 41 of file intermcu_ap.h.

Referenced by autopilot_static_on_rc_frame(), get_rc_pitch(), get_rc_pitch_f(), guidance_h_module_read_rc(), guidance_indi_run(), intermcu_on_rc_frame(), parse_rc_3ch_datalink(), parse_rc_4ch_datalink(), rc_datalink_normalize(), read_rc_setpoint_speed_i(), send_rotorcraft_rc(), send_tune_hover(), stabilization_indi_calc_cmd(), stabilization_none_read_rc(), stabilization_rate_read_rc(), stabilization_rate_read_rc_switched_sticks(), and vPoint().

#define RADIO_ROLL   1

Definition at line 40 of file intermcu_ap.h.

Referenced by autopilot_static_on_rc_frame(), get_rc_roll(), get_rc_roll_f(), guidance_h_module_read_rc(), guidance_indi_run(), intermcu_on_rc_frame(), parse_rc_3ch_datalink(), parse_rc_4ch_datalink(), rc_datalink_normalize(), read_rc_setpoint_speed_i(), send_rotorcraft_rc(), send_tune_hover(), stabilization_indi_calc_cmd(), stabilization_none_read_rc(), stabilization_rate_read_rc(), stabilization_rate_read_rc_switched_sticks(), and vPoint().

#define RADIO_THROTTLE   0

Definition at line 39 of file intermcu_ap.h.

Referenced by autopilot_static_on_rc_frame(), guidance_h_module_read_rc(), guidance_indi_run(), guidance_v_read_rc(), intermcu_on_rc_frame(), parse_rc_3ch_datalink(), parse_rc_4ch_datalink(), rc_datalink_normalize(), send_rotorcraft_rc(), spektrum_parse_channel(), and superbitrf_rc_normalize().

#define RADIO_YAW   3

Definition at line 42 of file intermcu_ap.h.

Referenced by autopilot_static_on_rc_frame(), copy_from_to_fbw(), get_rc_yaw(), get_rc_yaw_f(), guidance_h_module_read_rc(), intermcu_on_rc_frame(), parse_rc_3ch_datalink(), parse_rc_4ch_datalink(), rc_datalink_normalize(), send_rotorcraft_rc(), send_tune_hover(), stabilization_indi_calc_cmd(), stabilization_none_read_rc(), stabilization_rate_read_rc(), and stabilization_rate_read_rc_switched_sticks().

Function Documentation

void intermcu_send_spektrum_bind

(

void

)

Definition at line 129 of file intermcu_ap.c.

References intermcu_t::device, intermcu_t::enabled, INTERMCU_AP, and intermcu_t::transport.

Referenced by spektrum_soft_bind_click().

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void intermcu_set_actuators	(	pprz_t *	command_values,
		uint8_t	ap_mode
	)

Definition at line 111 of file intermcu_ap.c.

References autopilot_get_motors_on(), intermcu_t::cmd_status, intermcu_t::device, intermcu_t::enabled, INTERMCU_AP, INTERMCU_CMD_MOTORS_ON, INTERMCU_SET_CMD_STATUS, and intermcu_t::transport.

Referenced by main_periodic().

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void intermcu_set_enabled

(

bool

value

)

Definition at line 105 of file intermcu_ap.c.

References intermcu_t::enabled.

Referenced by px4flash_event().

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void RadioControlEvent

(

void(*)(void)

frame_handler

)

Definition at line 231 of file intermcu_ap.c.

References intermcu_t::device, intermcu_t::enabled, imcu_msg_buf, intermcu_parse_msg(), intermcu_t::msg_available, and intermcu_t::transport.

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