main_ap.h File Reference

AP ( AutoPilot ) process API. More...

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

Detailed Description

AP ( AutoPilot ) process API.

Definition in file main_ap.h.

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().

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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().

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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().

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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().

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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().

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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().

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