main_ap.h File Reference

Rover main loop. More...

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

Detailed Description

Rover main loop.

Definition in file main_ap.h.

Function Documentation

void failsafe_check

(

void

)

Definition at line 294 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.

Referenced by handle_periodic_tasks(), and main_init().

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void handle_periodic_tasks

(

void

)

Definition at line 202 of file main_ap.c.

References baro_periodic(), electrical_periodic(), electrical_tid, failsafe_check(), main_periodic(), main_periodic_tid, modules_tid, radio_control_periodic_task(), radio_control_tid, sys_time_check_and_ack_timer(), telemetry_periodic(), and telemetry_tid.

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void main_event ( void  )

inline

Definition at line 336 of file main_ap.c.

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

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void main_init ( void  )

inline

Main initialization.

Definition at line 118 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(), fbw_mode, FBW_MODE_FAILSAFE, 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 237 of file main_ap.c.

References autopilot, autopilot_get_mode(), autopilot_in_flight(), autopilot_motors_on, autopilot_periodic(), commands, commands_failsafe, datalink_time, fbw_mode, FBW_MODE_AUTO, FBW_MODE_FAILSAFE, FBW_MODE_MANUAL, fbw_motors_on, fbw_safety_check(), pprz_autopilot::flight_time, intermcu, intermcu_periodic(), intermcu_set_actuators(), LED_OFF, LED_ON, LED_PERIODIC, LED_TOGGLE, PPRZ_BAUD, SetCommands, and throttle_curve_run().

Referenced by handle_periodic_tasks().

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void telemetry_periodic

(

void

)

Definition at line 270 of file main_ap.c.

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

Referenced by handle_periodic_tasks().

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