autopilot_utils.h File Reference

Utility functions and includes for autopilots. More...

#include "std.h"
#include "subsystems/commands.h"

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Macros
#define	FAILSAFE_DESCENT_SPEED   1.5
	Set descent speed in failsafe mode. More...
#define	SetRotorcraftCommands(_cmd, _in_flight, _motors_on)   set_rotorcraft_commands(commands, _cmd, _in_flight, _motors_on)

Functions
bool	ap_ahrs_is_aligned (void)
	Display descent speed in failsafe mode if needed. More...
uint8_t	ap_mode_of_3way_switch (void)
	get autopilot mode as set by RADIO_MODE 3-way switch More...
void	set_rotorcraft_commands (pprz_t *cmd_out, int32_t *cmd_in, bool in_flight, bool motors_on)
	Set Rotorcraft commands. More...

Detailed Description

Utility functions and includes for autopilots.

Definition in file autopilot_utils.h.

Macro Definition Documentation

#define FAILSAFE_DESCENT_SPEED   1.5

Set descent speed in failsafe mode.

Definition at line 37 of file autopilot_utils.h.

Referenced by autopilot_static_set_mode().

#define SetRotorcraftCommands	(		_cmd,
			_in_flight,
			_motors_on
	)		set_rotorcraft_commands(commands, _cmd, _in_flight, _motors_on)

Definition at line 64 of file autopilot_utils.h.

Referenced by autopilot_static_periodic().

Function Documentation

bool ap_ahrs_is_aligned

(

void

)

Display descent speed in failsafe mode if needed.

Definition at line 41 of file autopilot_utils.c.

uint8_t ap_mode_of_3way_switch

(

void

)

get autopilot mode as set by RADIO_MODE 3-way switch

Definition at line 90 of file autopilot_utils.c.

void set_rotorcraft_commands	(	pprz_t *	cmd_out,
		int32_t *	cmd_in,
		bool	in_flight,
		bool	motors_on
	)

Set Rotorcraft commands.

Limit thrust and/or yaw depending of the in_flight and motors_on flag status

A default implementation is provided, but the function can be redefined

Parameters

[out]	cmd_out	output command vector in pprz_t (usually commands array)
	in/out]	cmd_in input commands to apply, might be affected by in_flight and motors_on param (FIXME really ?)
[in]	in_flight	tells if rotorcraft is in flight
[in]	motors_on	tells if motors are running

Set Rotorcraft commands.

RADIO_MODE switch just selectes between MANUAL and AUTO. If not MANUAL, the RADIO_AUTO_MODE switch selects between AUTO1 and AUTO2.

This is mainly a cludge for entry level radios with no three-way switch, but two available two-way switches which can be used.Set Rotorcraft commands. Limit thrust and/or yaw depending of the in_flight and motors_on flag status

Definition at line 135 of file autopilot_utils.c.