main_ap.c File Reference

Rover main loop. More...

#include <inttypes.h>
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "subsystems/datalink/telemetry.h"
#include "subsystems/datalink/datalink.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/settings.h"
#include "subsystems/commands.h"
#include "subsystems/actuators.h"
#include "subsystems/imu.h"
#include "subsystems/gps.h"
#include "subsystems/electrical.h"
#include "autopilot.h"
#include "subsystems/radio_control.h"
#include "subsystems/ahrs.h"
#include "state.h"
#include "firmwares/rover/main_ap.h"
#include "generated/modules.h"
#include "subsystems/abi.h"
#include "subsystems/navigation/waypoints.h"

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Macros
#define	MODULES_C
#define	ABI_C
#define	BARO_PERIODIC_FREQUENCY   50
#define	RC_LOST_MODE   AP_MODE_FAILSAFE
	mode to enter when RC is lost while using a mode with RC input (not AP_MODE_NAV) More...

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

Variables
tid_t	main_periodic_tid
	id for main_periodic() timer More...
tid_t	modules_tid
	id for modules_periodic_task() timer More...
tid_t	failsafe_tid
	id for failsafe_check() timer More...
tid_t	radio_control_tid
	id for radio_control_periodic_task() timer More...
tid_t	electrical_tid
	id for electrical_periodic() timer More...
tid_t	telemetry_tid
	id for telemetry_periodic() timer More...

Detailed Description

Rover main loop.

Definition in file main_ap.c.

Macro Definition Documentation

#define ABI_C

Definition at line 30 of file main_ap.c.

#define BARO_PERIODIC_FREQUENCY   50

Definition at line 94 of file main_ap.c.

Referenced by init_ap(), and main_init().

#define MODULES_C

Definition at line 28 of file main_ap.c.

#define RC_LOST_MODE   AP_MODE_FAILSAFE

mode to enter when RC is lost while using a mode with RC input (not AP_MODE_NAV)

Definition at line 264 of file main_ap.c.

Function Documentation

void failsafe_check

(

void

)

Definition at line 267 of file main_ap.c.

References AP_MODE_FAILSAFE, AP_MODE_FLIP, AP_MODE_GUIDED, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_MODULE, AP_MODE_NAV, autopilot_check_in_flight(), autopilot_get_mode(), autopilot_get_motors_on(), autopilot_set_mode(), Electrical::bat_critical, electrical, GpsIsLost, radio_control, RC_LOST_MODE, RC_OK, RC_REALLY_LOST, and RadioControl::status.

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void handle_periodic_tasks

(

void

)

Definition at line 189 of file main_ap.c.

References baro_periodic(), electrical_periodic(), failsafe_check(), main_periodic(), radio_control_periodic_task(), sys_time_check_and_ack_timer(), and telemetry_periodic().

Referenced by main(), nps_autopilot_run_step(), thd_ap(), and thd_fbw().

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void main_event ( void  )

inline

Definition at line 272 of file main_ap.c.

References autopilot, autopilot_event(), autopilot_on_rc_frame(), BaroEvent, mcu_event(), RadioControlEvent, and pprz_autopilot::use_rc.

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void main_init ( void  )

inline

Main initialization.

Definition at line 115 of file main_ap.c.

References ahrs_init(), autopilot_generated_init(), autopilot_init(), autopilot_static_init(), baro_init(), BARO_PERIODIC_FREQUENCY, Imu::body_to_imu, downlink_init(), electrical_init(), failsafe_check(), imu, intermcu_init(), mcu_init(), mcu_int_enable, motor_mixing_init(), orientationGetQuat_f(), radio_control_init(), settings_init(), stateInit(), sys_time_register_timer(), TELEMETRY_FREQUENCY, and waypoints_localize_all().

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void main_periodic ( void  )

inline

Definition at line 224 of file main_ap.c.

References autopilot, autopilot_get_mode(), autopilot_in_flight(), autopilot_periodic(), commands, datalink_time, pprz_autopilot::flight_time, intermcu_periodic(), intermcu_set_actuators(), LED_PERIODIC, and throttle_curve_run().

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void telemetry_periodic

(

void

)

Definition at line 243 of file main_ap.c.

References autopilot_send_version(), DefaultChannel, DefaultDevice, and DefaultPeriodic.

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Variable Documentation

tid_t electrical_tid

id for electrical_periodic() timer

Definition at line 109 of file main_ap.c.

tid_t failsafe_tid

id for failsafe_check() timer

Definition at line 107 of file main_ap.c.

tid_t main_periodic_tid

id for main_periodic() timer

Definition at line 105 of file main_ap.c.

tid_t modules_tid

id for modules_periodic_task() timer

Definition at line 106 of file main_ap.c.

tid_t radio_control_tid

id for radio_control_periodic_task() timer

Definition at line 108 of file main_ap.c.

tid_t telemetry_tid

id for telemetry_periodic() timer

Definition at line 110 of file main_ap.c.