autopilot_firmware.c File Reference

#include "firmwares/rover/autopilot_firmware.h"
#include "generated/modules.h"
#include <stdint.h>
#include "subsystems/electrical.h"
#include "subsystems/datalink/telemetry.h"
#include "subsystems/radio_control.h"
#include "subsystems/gps.h"
#include "modules/nav/nav_geofence.h"

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Functions
static void	send_status (struct transport_tx *trans, struct link_device *dev)
static void	send_energy (struct transport_tx *trans, struct link_device *dev)
static void	send_fp (struct transport_tx *trans, struct link_device *dev)
static void	send_rotorcraft_rc (struct transport_tx *trans, struct link_device *dev)
void	autopilot_firmware_init (void)
	Init function. More...
void	autopilot_event (void)
	autopilot event function More...

Function Documentation

void autopilot_event

(

void

)

autopilot event function

Autopilot event check function.

Definition at line 137 of file autopilot_firmware.c.

void autopilot_firmware_init

(

void

)

Init function.

Definition at line 123 of file autopilot_firmware.c.

References ap_electrical, Electrical::bat_critical, Electrical::bat_low, Electrical::charge, Electrical::current, DefaultPeriodic, Electrical::energy, register_periodic_telemetry(), send_airspeed(), send_desired(), send_energy(), send_estimator(), send_fp(), send_mode(), send_rotorcraft_rc(), send_status(), and Electrical::vsupply.

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static void send_energy ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 70 of file autopilot_firmware.c.

References autopilot, Electrical::charge, Electrical::current, electrical, Electrical::energy, MAX_PPRZ, pprz_autopilot::throttle, and Electrical::vsupply.

Referenced by autopilot_firmware_init().

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static void send_fp ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 78 of file autopilot_firmware.c.

References ANGLE_BFP_OF_REAL, autopilot, RoverNavigation::carrot, pprz_autopilot::flight_time, RoverNavigation::heading, nav, Int32Eulers::phi, POS_BFP_OF_REAL, Int32Eulers::psi, stateGetNedToBodyEulers_i(), stateGetPositionEnu_i(), stateGetSpeedEnu_i(), Int32Eulers::theta, pprz_autopilot::throttle, NedCoor_f::x, EnuCoor_f::x, EnuCoor_i::x, EnuCoor_f::y, EnuCoor_i::y, and EnuCoor_i::z.

Referenced by autopilot_firmware_init().

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static void send_rotorcraft_rc ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 105 of file autopilot_firmware.c.

References radio_control, RADIO_KILL_SWITCH, RADIO_MODE, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, RadioControl::status, and RadioControl::values.

Referenced by autopilot_firmware_init().

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static void send_status ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 55 of file autopilot_firmware.c.

References autopilot, electrical, GpsState::fix, RadioControl::frame_rate, gps, pprz_autopilot::mode, pprz_autopilot::motors_on, sys_time::nb_sec, radio_control, RadioControl::status, and Electrical::vsupply.

Referenced by autopilot_firmware_init().

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