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	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)
	Get autopilot mode from two 2way switches. More...

Detailed Description

Utility functions and includes for autopilots.

Definition in file autopilot_utils.h.

Macro Definition Documentation

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

Definition at line 40 of file autopilot_utils.h.

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.

References stateIsAttitudeValid().

Referenced by autopilot_generated_on_rc_frame(), autopilot_generated_set_motors_on(), autopilot_static_on_rc_frame(), autopilot_static_set_mode(), and autopilot_static_set_motors_on().

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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.

References autopilot_mode_auto2, MODE_AUTO1, MODE_AUTO2, MODE_MANUAL, radio_control, RADIO_MODE, THRESHOLD_1_PPRZ, THRESHOLD_2_PPRZ, and RadioControl::values.

Referenced by autopilot_static_on_rc_frame().

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

Get autopilot mode from two 2way switches.

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

Get autopilot mode from two 2way switches.

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.

References lock_wings, and WING_POS_NOMINAL_THRUST.