autopilot_utils.h File Reference

Utility functions and includes for autopilots. More...

#include "std.h"
#include "inter_mcu.h"
#include "generated/airframe.h"

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Go to the source code of this file.

Macros
#define	AP_MODE_OF_PULSE(pprz)
	Get mode from pulse. More...
#define	STICK_PUSHED(pprz)   (pprz < THRESHOLD1 || pprz > THRESHOLD2)
	Stick pushed. More...
#define	FLOAT_OF_PPRZ(pprz, center, travel)   ((float)pprz / (float)MAX_PPRZ * travel + center)
	pprz_t to float with saturation More...
#define	THROTTLE_THRESHOLD_TAKEOFF   (pprz_t)(MAX_PPRZ * 0.9)
	Takeoff detection threshold from throttle. More...
#define	THRESHOLD_MANUAL_PPRZ   (MIN_PPRZ / 2)
	Threshold for RC mode detection. More...
#define	THRESHOLD1   THRESHOLD_MANUAL_PPRZ
#define	THRESHOLD2   (MAX_PPRZ/2)
#define	AP_COMMAND_SET_ROLL(_roll)   { ap_state->commands[COMMAND_ROLL] = _roll; }
	AP command setter macros for usual commands. More...
#define	AP_COMMAND_SET_PITCH(_pitch)   { ap_state->commands[COMMAND_PITCH] = _pitch; }
#define	AP_COMMAND_SET_YAW(_yaw)   {}
#define	AP_COMMAND_SET_THROTTLE(_throttle)
#define	AP_COMMAND_SET_CL(_cl)   {}
#define	AP_SETPOINT_ROLL(_roll, _max)
#define	AP_SETPOINT_PITCH(_pitch, _max)
#define	AP_SETPOINT_YAW_RATE(_yaw, _max)   {}
#define	AP_SETPOINT_THROTTLE(_throttle)

Detailed Description

Utility functions and includes for autopilots.

Definition in file autopilot_utils.h.

Macro Definition Documentation

#define AP_COMMAND_SET_CL

(

_cl

)

{}

Definition at line 86 of file autopilot_utils.h.

Referenced by attitude_loop().

#define AP_COMMAND_SET_PITCH

(

_pitch

)

{ ap_state->commands[COMMAND_PITCH] = _pitch; }

Definition at line 67 of file autopilot_utils.h.

Referenced by attitude_loop().

#define AP_COMMAND_SET_ROLL

(

_roll

)

{ ap_state->commands[COMMAND_ROLL] = _roll; }

AP command setter macros for usual commands.

Definition at line 64 of file autopilot_utils.h.

Referenced by attitude_loop().

#define AP_COMMAND_SET_THROTTLE

(

_throttle

)

Value:

{ \
  ap_state->commands[COMMAND_THROTTLE] = _throttle; \
  autopilot.throttle = _throttle; \
}

Definition at line 77 of file autopilot_utils.h.

Referenced by attitude_loop().

#define AP_COMMAND_SET_YAW

(

_yaw

)

{}

Definition at line 73 of file autopilot_utils.h.

Referenced by attitude_loop().

#define AP_MODE_OF_PULSE

(

pprz

)

Value:

(pprz > THRESHOLD2 ? AP_MODE_AUTO2 : \
   (pprz > THRESHOLD1 ? AP_MODE_AUTO1 : AP_MODE_MANUAL))

Get mode from pulse.

Definition at line 38 of file autopilot_utils.h.

Referenced by pprz_mode_update().

#define AP_SETPOINT_PITCH	(		_pitch,
			_max
	)

Value:

{ \
  _pitch = FLOAT_OF_PPRZ(fbw_state->channels[RADIO_PITCH], 0., _max); \
}

Definition at line 95 of file autopilot_utils.h.

#define AP_SETPOINT_ROLL	(		_roll,
			_max
	)

Value:

{ \
  _roll = FLOAT_OF_PPRZ(fbw_state->channels[RADIO_ROLL], 0., _max); \
}

Definition at line 90 of file autopilot_utils.h.

#define AP_SETPOINT_THROTTLE

(

_throttle

)

Value:

{ \
  _throttle = fbw_state->channels[RADIO_THROTTLE]; \
}

Definition at line 109 of file autopilot_utils.h.

#define AP_SETPOINT_YAW_RATE	(		_yaw,
			_max
	)		{}

Definition at line 105 of file autopilot_utils.h.

#define FLOAT_OF_PPRZ	(		pprz,
			center,
			travel
	)		((float)pprz / (float)MAX_PPRZ * travel + center)

pprz_t to float with saturation

Definition at line 48 of file autopilot_utils.h.

Referenced by autopilot_static_on_rc_frame().

#define STICK_PUSHED

(

pprz

)

(pprz < THRESHOLD1 || pprz > THRESHOLD2)

Stick pushed.

Definition at line 44 of file autopilot_utils.h.

#define THRESHOLD1   THRESHOLD_MANUAL_PPRZ

Definition at line 57 of file autopilot_utils.h.

#define THRESHOLD2   (MAX_PPRZ/2)

Definition at line 58 of file autopilot_utils.h.

Referenced by pprz_mode_update().

#define THRESHOLD_MANUAL_PPRZ   (MIN_PPRZ / 2)

Threshold for RC mode detection.

Definition at line 56 of file autopilot_utils.h.

#define THROTTLE_THRESHOLD_TAKEOFF   (pprz_t)(MAX_PPRZ * 0.9)

Takeoff detection threshold from throttle.

Definition at line 52 of file autopilot_utils.h.

Referenced by autopilot_static_on_rc_frame().