autopilot_generated.c

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/*
 * Copyright (C) 2016 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/>.
 */

#define AUTOPILOT_CORE_AP_C

#include "firmwares/rotorcraft/autopilot_generated.h"
#include "autopilot.h"

#include "subsystems/radio_control.h"
#include "subsystems/commands.h"
#include "subsystems/actuators.h"
#include "subsystems/settings.h"
#include "subsystems/datalink/telemetry.h"

#include "generated/settings.h"

#if USE_KILL_SWITCH_FOR_MOTOR_ARMING
#include "autopilot_arming_switch.h"
PRINT_CONFIG_MSG("Using kill switch for motor arming")
#elif USE_THROTTLE_FOR_MOTOR_ARMING
#include "autopilot_arming_throttle.h"
PRINT_CONFIG_MSG("Using throttle for motor arming")
#else
#include "autopilot_arming_yaw.h"
PRINT_CONFIG_MSG("Using 2 sec yaw for motor arming")
#endif


void autopilot_generated_init(void)
{
  // call generated init
  autopilot_core_ap_init();
  // copy generated mode to public mode (set at startup)
  autopilot.mode = autopilot_mode_ap;

  // init arming
  autopilot_arming_init();
}


void autopilot_generated_periodic(void)
{

  autopilot_core_ap_periodic_task();

  // copy generated mode to public mode (may be changed on internal exceptions)
  autopilot.mode = autopilot_mode_ap;

  /* Reset ground detection _after_ running flight plan
   */
  if (!autopilot_in_flight()) {
    autopilot.ground_detected = false;
    autopilot.detect_ground_once = false;
  }

}

void autopilot_generated_SetModeHandler(float mode)
{
  autopilot_generated_set_mode(mode);
}


void autopilot_generated_set_mode(uint8_t new_autopilot_mode)
{
  autopilot_core_ap_set_mode(new_autopilot_mode);
  // copy generated mode to public mode
  autopilot.mode = autopilot_mode_ap;
}


void autopilot_generated_set_motors_on(bool motors_on)
{
  if (ap_ahrs_is_aligned() && motors_on
#ifdef AP_MODE_KILL
      && autopilot.mode != AP_MODE_KILL
#endif
      ) {
    autopilot.motors_on = true;
  } else {
    autopilot.motors_on = false;
  }
  autopilot_arming_set(autopilot.motors_on);
}


void autopilot_generated_on_rc_frame(void)
{

  // FIXME what to do here ?

  /* an arming sequence is used to start/stop motors.
   * only allow arming if ahrs is aligned
   */
  if (ap_ahrs_is_aligned()) {
    autopilot_arming_check_motors_on();
    autopilot.kill_throttle = ! autopilot.motors_on;
  } else {
    autopilot.arming_status = AP_ARMING_STATUS_AHRS_NOT_ALLIGNED;
  }

  /* if not in FAILSAFE or HOME mode, read RC and set commands accordingly */
//  if (autopilot.mode != AP_MODE_FAILSAFE && autopilot.mode != AP_MODE_HOME) {
//
//    /* if there are some commands that should always be set from RC, do it */
//#ifdef SetAutoCommandsFromRC
//    SetAutoCommandsFromRC(commands, radio_control.values);
//#endif
//
//    /* if not in NAV_MODE set commands from the rc */
//#ifdef SetCommandsFromRC
//    if (autopilot.mode != AP_MODE_NAV) {
//      SetCommandsFromRC(commands, radio_control.values);
//    }
//#endif
//
//    guidance_v_read_rc();
//    guidance_h_read_rc(autopilot.in_flight);
//  }

}