main_ap.c File Reference

AP ( AutoPilot ) tasks. More...

#include <math.h>
#include "firmwares/fixedwing/main_ap.h"
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "inter_mcu.h"
#include "link_mcu.h"
#include "subsystems/gps.h"
#include "subsystems/imu.h"
#include "subsystems/ahrs.h"
#include "state.h"
#include "autopilot.h"
#include "firmwares/fixedwing/nav.h"
#include "generated/flight_plan.h"
#include "subsystems/datalink/telemetry.h"
#include "subsystems/settings.h"
#include "generated/modules.h"
#include "generated/settings.h"
#include "modules/settings/rc_settings.h"
#include "subsystems/abi.h"
#include "led.h"

Include dependency graph for main_ap.c:

Go to the source code of this file.

Macros
#define	MODULES_C
#define	ABI_C
#define	COMMAND_ROLL_TRIM   0
#define	COMMAND_PITCH_TRIM   0
#define	COMMAND_YAW_TRIM   0
#define	TELEMETRY_FREQUENCY   60
#define	CATASTROPHIC_BAT_KILL_DELAY   5
	Maximum time allowed for catastrophic battery level before going into kill mode. More...
#define	KILL_MODE_DISTANCE   (1.5*MAX_DIST_FROM_HOME)
	Maximum distance from HOME waypoint before going into kill mode. More...
#define	MIN_SPEED_FOR_TAKEOFF   5.
	Default minimal speed for takeoff in m/s. More...

Functions
void	init_ap (void)
void	handle_periodic_tasks_ap (void)
void	reporting_task (void)
	Send a series of initialisation messages followed by a stream of periodic ones. More...
void	sensors_task (void)
	Run at PERIODIC_FREQUENCY (60Hz if not defined) More...
void	monitor_task (void)
	monitor stuff run at 1Hz More...
void	event_task_ap (void)

Variables
tid_t	modules_tid
	id for modules_periodic_task() timer More...
tid_t	telemetry_tid
	id for telemetry_periodic() timer More...
tid_t	sensors_tid
	id for sensors_task() timer More...
tid_t	attitude_tid
	id for attitude_loop() timer More...
tid_t	navigation_tid
	id for navigation_task() timer More...
tid_t	monitor_tid
	id for monitor_task() timer More...

Detailed Description

AP ( AutoPilot ) tasks.

This process is reponsible for the collecting the different sensors data, calling the appropriate estimation algorithms and running the different control loops.

Definition in file main_ap.c.

Macro Definition Documentation

#define ABI_C

Definition at line 33 of file main_ap.c.

#define CATASTROPHIC_BAT_KILL_DELAY   5

Maximum time allowed for catastrophic battery level before going into kill mode.

Definition at line 320 of file main_ap.c.

Referenced by monitor_task().

#define COMMAND_PITCH_TRIM   0

Definition at line 91 of file main_ap.c.

Referenced by init_ap().

#define COMMAND_ROLL_TRIM   0

Definition at line 87 of file main_ap.c.

Referenced by init_ap().

#define COMMAND_YAW_TRIM   0

Definition at line 95 of file main_ap.c.

Referenced by init_ap().

#define KILL_MODE_DISTANCE   (1.5*MAX_DIST_FROM_HOME)

Maximum distance from HOME waypoint before going into kill mode.

Definition at line 325 of file main_ap.c.

Referenced by monitor_task().

#define MIN_SPEED_FOR_TAKEOFF   5.

Default minimal speed for takeoff in m/s.

Definition at line 330 of file main_ap.c.

Referenced by monitor_task().

#define MODULES_C

Definition at line 31 of file main_ap.c.

#define TELEMETRY_FREQUENCY   60

Definition at line 109 of file main_ap.c.

Referenced by init_ap(), and main_init().

Function Documentation

void event_task_ap

(

void

)

Definition at line 369 of file main_ap.c.

References autopilot_event(), autopilot_on_rc_frame(), BaroEvent, inter_mcu_received_fbw, link_mcu_event_task(), and mcu_event().

Referenced by sim_periodic_task().

Here is the call graph for this function:

Here is the caller graph for this function:

void handle_periodic_tasks_ap

(

void

)

Definition at line 229 of file main_ap.c.

References attitude_loop(), autopilot_periodic(), baro_periodic(), LED_PERIODIC, monitor_task(), navigation_task(), reporting_task(), sensors_task(), and sys_time_check_and_ack_timer().

Here is the call graph for this function:

void init_ap

(

void

)

init done in main_fbw in single MCU

• start interrupt task

Definition at line 149 of file main_ap.c.

References ahrs_init(), ap_state, autopilot_generated_init(), autopilot_init(), autopilot_static_init(), baro_init(), BARO_PERIODIC_FREQUENCY, Imu::body_to_imu, COMMAND_PITCH_TRIM, COMMAND_ROLL_TRIM, COMMAND_YAW_TRIM, CONTROL_FREQUENCY, downlink_init(), imu, link_mcu_init(), mcu_int_enable, NAVIGATION_FREQUENCY, orientationGetQuat_f(), PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, settings_init(), stateInit(), sys_time_register_timer(), and TELEMETRY_FREQUENCY.

Referenced by sim_init().

Here is the call graph for this function:

Here is the caller graph for this function:

void monitor_task

(

void

)

monitor stuff run at 1Hz

Definition at line 334 of file main_ap.c.

References ap_electrical, autopilot, CATASTROPHIC_BAT_KILL_DELAY, datalink_time, DefaultChannel, DefaultDevice, dist2_to_home, pprz_autopilot::flight_time, KILL_MODE_DISTANCE, pprz_autopilot::kill_throttle, pprz_autopilot::launch, MIN_SPEED_FOR_TAKEOFF, sys_time::nb_sec, Square, stateGetHorizontalSpeedNorm_f(), and Electrical::vsupply.

Referenced by handle_periodic_tasks_ap(), and sim_monitor_task().

Here is the call graph for this function:

Here is the caller graph for this function:

void reporting_task

(

void

)

Send a series of initialisation messages followed by a stream of periodic ones.

Called at 60Hz.

Definition at line 283 of file main_ap.c.

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

Referenced by handle_periodic_tasks_ap(), and sim_periodic_task().

Here is the call graph for this function:

Here is the caller graph for this function:

void sensors_task

(

void

)

Run at PERIODIC_FREQUENCY (60Hz if not defined)

Definition at line 306 of file main_ap.c.

References update_ahrs_from_sim().

Referenced by handle_periodic_tasks_ap(), and sim_periodic_task().

Here is the call graph for this function:

Here is the caller graph for this function:

Variable Documentation

tid_t attitude_tid

id for attitude_loop() timer

Definition at line 139 of file main_ap.c.

tid_t modules_tid

id for modules_periodic_task() timer

Definition at line 136 of file main_ap.c.

tid_t monitor_tid

id for monitor_task() timer

Definition at line 143 of file main_ap.c.

tid_t navigation_tid

id for navigation_task() timer

Definition at line 141 of file main_ap.c.

tid_t sensors_tid

id for sensors_task() timer

Definition at line 138 of file main_ap.c.

tid_t telemetry_tid

id for telemetry_periodic() timer

Definition at line 137 of file main_ap.c.