autopilot.h

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/*
 * Copyright (C) 2003  Pascal Brisset, Antoine Drouin
 * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
 * Copyright (C) 2016-2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

#ifndef AUTOPILOT_H
#define AUTOPILOT_H

#ifdef __cplusplus
extern "C" {
#endif

#include "std.h"
#include "paparazzi.h"
#include "generated/airframe.h"
#include "state.h"
#include "autopilot_utils.h"

// include firmware specific header
#include "autopilot_firmware.h"

// include static or generated autopilot
// static version by default
#ifndef USE_GENERATED_AUTOPILOT
#define USE_GENERATED_AUTOPILOT FALSE
#endif

#if USE_GENERATED_AUTOPILOT
#include "autopilot_generated.h"
#else
#include "autopilot_static.h"
#endif

struct pprz_autopilot {
  uint8_t mode;             
  uint8_t mode_auto2;       
  uint16_t flight_time;     
  pprz_t throttle;          
  uint8_t arming_status;    
  bool motors_on;           
  bool kill_throttle;       
  bool in_flight;           
  bool launch;              
  bool use_rc;              
  bool power_switch;        
  bool ground_detected;     
  bool detect_ground_once;  
};


extern struct pprz_autopilot autopilot;

extern void autopilot_init(void);

extern void autopilot_periodic(void);

extern void autopilot_event(void);

extern void autopilot_on_rc_frame(void);

extern bool autopilot_set_mode(uint8_t new_autopilot_mode);

extern void autopilot_SetModeHandler(float new_autopilot_mode);

extern uint8_t autopilot_get_mode(void);

extern void autopilot_reset_flight_time(void);
#define autopilot_ResetFlightTimeAndLaunch(_) autopilot_reset_flight_time()

extern void autopilot_set_motors_on(bool motors_on);

extern bool autopilot_get_motors_on(void);

extern void autopilot_set_kill_throttle(bool kill);
#define autopilot_KillThrottle(_kill) autopilot_set_kill_throttle(_kill)

extern bool autopilot_throttle_killed(void);

extern void autopilot_check_in_flight(bool motors_on);

extern void autopilot_set_in_flight(bool in_flight);

extern bool autopilot_in_flight(void);

extern void autopilot_reset_in_flight_counter(void);

extern void autopilot_set_power_switch(bool power_switch);
#define autopilot_SetPowerSwitch(_ps) autopilot_set_power_switch(_ps)

extern void autopilot_store_settings(void);
#define autopilot_StoreSettings(_) autopilot_store_settings()

extern void autopilot_clear_settings(void);
#define autopilot_ClearSettings(_) autopilot_clear_settings()

extern void autopilot_send_version(void);

extern void autopilot_send_mode(void);

#ifdef __cplusplus
}
#endif

#endif /* AUTOPILOT_H */