#include "autopilot.h"

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Macros
#define	AP_MODE_MANUAL 0
	AP modes. More...

#define	AP_MODE_AUTO1 1

#define	AP_MODE_AUTO2 2

#define	AP_MODE_HOME 3

#define	AP_MODE_GPS_OUT_OF_ORDER 4

#define	AP_MODE_NB 5

#define	CONTROL_FREQUENCY 60

#define	NAVIGATION_FREQUENCY 4

Functions
void	autopilot_static_init (void)
	Static autopilot functions. More...

void	autopilot_static_periodic (void)

void	autopilot_static_on_rc_frame (void)
	Function to be called when a message from FBW is available. More...

void	autopilot_static_set_mode (uint8_t new_autopilot_mode)

void	autopilot_static_SetModeHandler (float new_autopilot_mode)
	AP mode setting handler. More...

void	autopilot_static_set_motors_on (bool motors_on)

void	navigation_task (void)
	Control loops FIXME should be somewhere else. More...

void	attitude_loop (void)

Detailed Description

Fixedwing autopilot modes (static implementation).

Definition in file autopilot_static.h.

Macro Definition Documentation

◆ AP_MODE_AUTO1

#define AP_MODE_AUTO1 1

Definition at line 37 of file autopilot_static.h.

◆ AP_MODE_AUTO2

#define AP_MODE_AUTO2 2

Definition at line 38 of file autopilot_static.h.

◆ AP_MODE_GPS_OUT_OF_ORDER

#define AP_MODE_GPS_OUT_OF_ORDER 4

Definition at line 40 of file autopilot_static.h.

◆ AP_MODE_HOME

#define AP_MODE_HOME 3

Definition at line 39 of file autopilot_static.h.

◆ AP_MODE_MANUAL

#define AP_MODE_MANUAL 0

AP modes.

Definition at line 36 of file autopilot_static.h.

◆ AP_MODE_NB

#define AP_MODE_NB 5

Definition at line 41 of file autopilot_static.h.

◆ CONTROL_FREQUENCY

#define CONTROL_FREQUENCY 60

Definition at line 67 of file autopilot_static.h.

◆ NAVIGATION_FREQUENCY

#define NAVIGATION_FREQUENCY 4

Definition at line 72 of file autopilot_static.h.

Function Documentation

◆ attitude_loop()

void attitude_loop ( void )

Definition at line 285 of file autopilot_static.c.

References AP_COMMAND_SET_CL, AP_COMMAND_SET_PITCH, AP_COMMAND_SET_ROLL, AP_COMMAND_SET_THROTTLE, AP_COMMAND_SET_YAW, ap_electrical, AP_MODE_AUTO2, autopilot, autopilot_get_mode(), pprz_autopilot::flight_time, h_ctl_aileron_setpoint, h_ctl_attitude_loop(), h_ctl_elevator_setpoint, h_ctl_pitch_setpoint, inter_mcu_received_ap, pprz_autopilot::kill_throttle, pprz_autopilot::launch, link_mcu_send(), MAX_PPRZ, nav_pitch, nav_throttle_setpoint, PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, TRIM_PPRZ, TRIM_UPPRZ, v_ctl_climb_loop(), v_ctl_landing_loop(), v_ctl_mode, V_CTL_MODE_AUTO_CLIMB, V_CTL_MODE_AUTO_THROTTLE, V_CTL_MODE_LANDING, v_ctl_pitch_setpoint, v_ctl_throttle_setpoint, v_ctl_throttle_slew(), v_ctl_throttle_slewed, and Electrical::vsupply.

Referenced by autopilot_static_periodic(), handle_periodic_tasks_ap(), and sim_periodic_task().

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◆ autopilot_static_init()

void autopilot_static_init ( void )

Static autopilot functions.

Todo:: , properly implement or remove

Todo:: : properly implement/fix a triggered attitude loop

Definition at line 90 of file autopilot_static.c.

◆ autopilot_static_on_rc_frame()

void autopilot_static_on_rc_frame ( void )

Function to be called when a message from FBW is available.

In AUTO1 mode, compute roll setpoint and pitch setpoint from RADIO_ROLL and RADIO_PITCH

Roll is bounded between [-AUTO1_MAX_ROLL;AUTO1_MAX_ROLL]

Pitch is bounded between [-AUTO1_MAX_PITCH;AUTO1_MAX_PITCH]

Else asynchronously set by h_ctl_course_loop()

In AUTO1, throttle comes from RADIO_THROTTLE In MANUAL, the value is copied to get it in the telemetry

else asynchronously set by v_ctl_climb_loop();

Definition at line 112 of file autopilot_static.c.

◆ autopilot_static_periodic()

void autopilot_static_periodic ( void )

Definition at line 104 of file autopilot_static.c.

◆ autopilot_static_set_mode()

void autopilot_static_set_mode ( uint8_t new_autopilot_mode )

Definition at line 194 of file autopilot_static.c.

◆ autopilot_static_set_motors_on()

void autopilot_static_set_motors_on ( bool motors_on )

Definition at line 206 of file autopilot_static.c.

◆ autopilot_static_SetModeHandler()

void autopilot_static_SetModeHandler ( float mode )

AP mode setting handler.

Checks RC status before calling autopilot_static_set_mode function

Definition at line 201 of file autopilot_static.c.

◆ navigation_task()

void navigation_task ( void )

Control loops FIXME should be somewhere else.

Definition at line 221 of file autopilot_static.c.

References AP_MODE_AUTO2, AP_MODE_GPS_OUT_OF_ORDER, AP_MODE_HOME, autopilot, autopilot_get_mode(), autopilot_send_mode(), autopilot_set_mode(), callTCAS(), common_nav_periodic_task_4Hz(), DefaultChannel, DefaultDevice, gps_lost, h_ctl_auto1_rate, h_ctl_course_loop(), lateral_mode, LATERAL_MODE_COURSE, pprz_autopilot::launch, nav_home(), nav_periodic_task(), nav_without_gps(), SEND_NAVIGATION, v_ctl_altitude_loop(), v_ctl_mode, and V_CTL_MODE_AUTO_ALT.

Referenced by handle_periodic_tasks_ap(), and sim_nav_task().