Core autopilot interface common to all firmwares. More...

#include "autopilot.h"
#include "generated/modules.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/gpio.h"
#include "subsystems/radio_control.h"
#include "subsystems/commands.h"
#include "subsystems/actuators.h"
#include "subsystems/datalink/telemetry.h"
#include "subsystems/settings.h"
#include "generated/settings.h"
#include "pprz_version.h"

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Functions
static void	send_autopilot_version (struct transport_tx trans, struct link_device dev)

static void	send_alive (struct transport_tx trans, struct link_device dev)

static void	send_attitude (struct transport_tx trans, struct link_device dev)

static void	send_dl_value (struct transport_tx trans, struct link_device dev)

static void	send_rc (struct transport_tx trans, struct link_device dev)

void	autopilot_init (void)
	Autopilot initialization function. More...

void	autopilot_periodic (void)
	AP periodic call. More...

void WEAK	autopilot_event (void)
	AP event call. More...

void	autopilot_on_rc_frame (void)
	RC frame handler. More...

bool	autopilot_set_mode (uint8_t new_autopilot_mode)
	set autopilot mode More...

void	autopilot_SetModeHandler (float mode)
	AP mode setting handler. More...

uint8_t	autopilot_get_mode (void)
	get autopilot mode More...

void	autopilot_reset_flight_time (void)
	reset flight time and launch More...

void	autopilot_set_motors_on (bool motors_on)
	turn motors on/off, eventually depending of the current mode set kill_throttle accordingly FIXME is it true for FW firmware ? More...

bool	autopilot_get_motors_on (void)
	get motors status More...

void	autopilot_set_kill_throttle (bool kill)
	set kill throttle More...

bool	autopilot_throttle_killed (void)
	get kill status More...

void WEAK	autopilot_check_in_flight (bool motors_on)
	in flight check utility function actual implementation is firmware dependent More...

void WEAK	autopilot_reset_in_flight_counter (void)
	reset in_flight counter actual implementation is firmware dependent More...

void	autopilot_set_in_flight (bool in_flight)
	set in_flight flag More...

bool	autopilot_in_flight (void)
	get in_flight flag More...

void	autopilot_set_power_switch (bool power_switch)
	set power switch More...

void	autopilot_store_settings (void)
	store settings More...

void	autopilot_clear_settings (void)
	clear settings More...

void	autopilot_send_version (void)
	send autopilot version More...

void WEAK	autopilot_send_mode (void)
	send autopilot mode actual implementation is firmware dependent More...

Variables
struct pprz_autopilot	autopilot
	Global autopilot structure. More...

Detailed Description

Core autopilot interface common to all firmwares.

Using either static or generated autopilot logic, which depends on the firmware.

Definition in file autopilot.c.

Function Documentation

void WEAK autopilot_check_in_flight ( bool motors_on )

in flight check utility function actual implementation is firmware dependent

Check if airframe is in flight.

Definition at line 238 of file autopilot.c.

Referenced by failsafe_check().

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void autopilot_clear_settings ( void )

clear settings

Clear marked settings in flash try to make sure that we don't write to flash while flying Also provide macro for dl_setting backward compatibility.

Definition at line 288 of file autopilot.c.

References autopilot, pprz_autopilot::kill_throttle, settings_clear(), and settings_clear_flag.

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void WEAK autopilot_event ( void )

AP event call.

Autopilot event check function.

Definition at line 146 of file autopilot.c.

Referenced by event_task_ap(), and main_event().

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uint8_t autopilot_get_mode ( void )

get autopilot mode

Get autopilot mode.

Definition at line 184 of file autopilot.c.

References autopilot, and pprz_autopilot::mode.

Referenced by attitude_loop(), autopilot_arming_check_motors_on(), autopilot_arming_check_valid(), autopilot_arming_set(), autopilot_guided_goto_body_relative(), autopilot_guided_goto_ned(), autopilot_guided_goto_ned_relative(), autopilot_guided_move_ned(), autopilot_guided_update(), autopilot_static_on_rc_frame(), cam_periodic(), collective_tracking_control(), distributed_circular(), failsafe_check(), generic_com_periodic(), guidance_flip_enter(), gvf_control_2D(), h_ctl_pitch_loop(), h_ctl_roll_loop(), main_periodic(), mavlink_common_message_handler(), mavlink_send_heartbeat(), navigation_task(), NavKillThrottle(), NavResurrect(), periodic_auto1_commands(), pprz_mode_update(), stabilization_opticflow_vel_cb(), takeoff_detect_periodic(), v_ctl_set_pitch(), v_ctl_set_throttle(), and vPoint().

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bool autopilot_get_motors_on ( void )

get motors status

Get motor status.

Definition at line 212 of file autopilot.c.

References autopilot, and pprz_autopilot::motors_on.

Referenced by actuators_ardrone_motor_status(), actuators_bebop_commit(), actuators_esc32_commit(), failsafe_check(), hott_check_serial_data(), hott_update_eam_msg(), hott_update_gam_msg(), intermcu_set_actuators(), mavlink_common_message_handler(), nps_autopilot_run_step(), sdlogger_spi_direct_periodic(), stabilization_attitude_run(), and throttle_curve_run().

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bool autopilot_in_flight ( void )

get in_flight flag

Get in flight status.

Definition at line 257 of file autopilot.c.

References autopilot, and pprz_autopilot::in_flight.

Referenced by autopilot_generated_periodic(), autopilot_static_on_rc_frame(), autopilot_static_periodic(), gps_sim_hitl_event(), guidance_flip_run(), ins_ekf2_publish_attitude(), ins_ekf2_update(), main_periodic(), nav_home(), nav_is_in_flight(), and orange_avoider_periodic().

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void autopilot_init ( void )

Autopilot initialization function.

Definition at line 91 of file autopilot.c.

References autopilot, autopilot_firmware_init(), autopilot_set_power_switch(), DefaultPeriodic, pprz_autopilot::detect_ground_once, pprz_autopilot::flight_time, gpio_clear(), gpio_setup_output(), pprz_autopilot::ground_detected, pprz_autopilot::in_flight, pprz_autopilot::kill_throttle, pprz_autopilot::mode_auto2, MODE_AUTO2, pprz_autopilot::motors_on, pprz_autopilot::power_switch, POWER_SWITCH_GPIO, register_periodic_telemetry(), send_actuators(), send_alive(), send_attitude(), send_autopilot_version(), send_dl_value(), send_rc(), pprz_autopilot::throttle, and pprz_autopilot::use_rc.

Referenced by init_ap(), and main_init().

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void autopilot_on_rc_frame ( void )

RC frame handler.

Autopilot RC input event hadler.

Definition at line 150 of file autopilot.c.

References autopilot_generated_on_rc_frame(), and autopilot_static_on_rc_frame().

Referenced by event_task_ap(), and main_event().

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void autopilot_periodic ( void )

AP periodic call.

Autopilot periodic call at PERIODIC_FREQUENCY.

Definition at line 135 of file autopilot.c.

References autopilot_generated_periodic(), and autopilot_static_periodic().

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

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void autopilot_reset_flight_time ( void )

reset flight time and launch

Reset flight time and launch status Also provide macro for dl_setting backward compatibility.

Definition at line 191 of file autopilot.c.

References autopilot, pprz_autopilot::flight_time, and pprz_autopilot::launch.

void WEAK autopilot_reset_in_flight_counter ( void )

reset in_flight counter actual implementation is firmware dependent

Definition at line 243 of file autopilot.c.

Referenced by autopilot_set_in_flight().

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void WEAK autopilot_send_mode ( void )

send autopilot mode actual implementation is firmware dependent

Report autopilot mode on default downlink channel.

Definition at line 306 of file autopilot.c.

Referenced by autopilot_static_on_rc_frame(), and navigation_task().

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void autopilot_send_version ( void )

send autopilot version

Report autopilot version on default downlink channel.

Definition at line 298 of file autopilot.c.

References DefaultChannel, DefaultDevice, and send_autopilot_version().

Referenced by reporting_task(), and telemetry_periodic().

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void autopilot_set_in_flight ( bool in_flight )

set in_flight flag

Set in flight status.

Definition at line 247 of file autopilot.c.

References autopilot, autopilot_reset_in_flight_counter(), and pprz_autopilot::in_flight.

Referenced by autopilot_arming_check_motors_on(), and autopilot_static_set_mode().

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void autopilot_set_kill_throttle ( bool kill )

set kill throttle

Enable or disable motor control from autopilot Also provide macro for dl_setting backward compatibility.

Definition at line 219 of file autopilot.c.

References autopilot_set_motors_on().

Referenced by actuators_disco_commit(), autopilot_static_on_rc_frame(), nav_bungee_takeoff_run(), nav_bungee_takeoff_setup(), and nav_skid_landing_run().

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bool autopilot_set_mode ( uint8_t new_autopilot_mode )

set autopilot mode

Set new autopilot mode.

Definition at line 161 of file autopilot.c.

References autopilot, autopilot_generated_set_mode(), autopilot_static_set_mode(), and pprz_autopilot::mode.

Referenced by autopilot_static_on_rc_frame(), failsafe_check(), guidance_flip_run(), mavlink_common_message_handler(), nav_set_failsafe(), navigation_task(), and pprz_mode_update().

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void autopilot_set_motors_on ( bool motors_on )

turn motors on/off, eventually depending of the current mode set kill_throttle accordingly FIXME is it true for FW firmware ?

Start or stop motors May have no effect if motors has auto-start based on throttle setpoint.

Definition at line 200 of file autopilot.c.

References autopilot, autopilot_generated_set_motors_on(), autopilot_static_set_motors_on(), pprz_autopilot::kill_throttle, and pprz_autopilot::motors_on.

Referenced by actuators_ardrone_motor_status(), actuators_bebop_commit(), autopilot_set_kill_throttle(), autopilot_static_set_mode(), mavlink_common_message_handler(), NavKillThrottle(), and NavResurrect().

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void autopilot_set_power_switch ( bool power_switch )

set power switch

Set power switch state This will actually enable the switch if POWER_SWITCH_GPIO is defined Also provide macro for dl_setting backward compatibility.

Definition at line 264 of file autopilot.c.

References autopilot, gpio_clear(), gpio_set(), pprz_autopilot::power_switch, and POWER_SWITCH_GPIO.

Referenced by autopilot_init().

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void autopilot_SetModeHandler ( float mode )

AP mode setting handler.

Handler for setter function with dl_setting.

Definition at line 173 of file autopilot.c.

References autopilot_generated_SetModeHandler(), and autopilot_static_SetModeHandler().

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void autopilot_store_settings ( void )

store settings

Store marked settings in flash Try to make sure that we don't write to flash while flying Also provide macro for dl_setting backward compatibility.

Definition at line 278 of file autopilot.c.

References autopilot, pprz_autopilot::kill_throttle, settings_store(), and settings_store_flag.

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bool autopilot_throttle_killed ( void )

get kill status

Get kill status.

Definition at line 230 of file autopilot.c.

References autopilot, and pprz_autopilot::kill_throttle.

Referenced by electrical_periodic(), geo_mag_periodic(), mavlink_send_heartbeat(), nav_skid_landing_run(), v_ctl_climb_loop(), and v_ctl_landing_loop().

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static void send_alive	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 60 of file autopilot.c.

Referenced by autopilot_init().

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static void send_attitude	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 65 of file autopilot.c.

References FloatEulers::phi, FloatEulers::psi, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by autopilot_init().

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static void send_autopilot_version	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 53 of file autopilot.c.

Referenced by autopilot_init(), and autopilot_send_version().

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static void send_dl_value	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 71 of file autopilot.c.

Referenced by autopilot_init().

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static void send_rc	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 77 of file autopilot.c.

References radio_control, RADIO_CONTROL_NB_CHANNEL, and RadioControl::values.

Referenced by autopilot_init().

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Variable Documentation

struct pprz_autopilot autopilot

Global autopilot structure.

Definition at line 50 of file autopilot.c.

Referenced by attitude_loop(), autopilot_arming_check_motors_on(), autopilot_arming_check_valid(), autopilot_check_in_flight(), autopilot_clear_settings(), autopilot_event(), autopilot_generated_init(), autopilot_generated_on_rc_frame(), autopilot_generated_periodic(), autopilot_generated_set_mode(), autopilot_generated_set_motors_on(), autopilot_get_mode(), autopilot_get_motors_on(), autopilot_in_flight(), autopilot_init(), autopilot_reset_flight_time(), autopilot_set_in_flight(), autopilot_set_mode(), autopilot_set_motors_on(), autopilot_set_power_switch(), autopilot_static_init(), autopilot_static_on_rc_frame(), autopilot_static_periodic(), autopilot_static_set_mode(), autopilot_static_set_motors_on(), autopilot_store_settings(), autopilot_throttle_killed(), Drift_correction(), gazebo_write(), generic_com_periodic(), gsm_send_report_continue(), guidance_h_module_enter(), guidance_h_module_read_rc(), h_ctl_course_loop(), h_ctl_pitch_loop(), h_ctl_roll_loop(), main_event(), main_periodic(), mf_daq_send_state(), monitor_task(), nav_bungee_takeoff_run(), nav_catapult_highrate_module(), nav_check_wp_time(), nav_detect_ground(), nav_home(), navigation_task(), nps_autopilot_run_step(), parse_mf_daq_msg(), send_energy(), send_fp(), send_mode(), send_status(), takeoff_detect_periodic(), v_ctl_climb_loop(), v_ctl_guidance_loop(), v_ctl_set_pitch(), and v_ctl_set_throttle().

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation