jevois_mavlink.c File Reference

#include "modules/sensors/cameras/jevois_mavlink.h"
#include <stdio.h>
#include <mavlink/mavlink_types.h>
#include "mavlink/paparazzi/mavlink.h"
#include "subsystems/imu.h"
#include "autopilot.h"
#include "generated/modules.h"
#include "subsystems/abi.h"
#include "subsystems/abi_sender_ids.h"
#include "std.h"
#include "subsystems/datalink/telemetry.h"
#include "filters/low_pass_filter.h"
#include "state.h"
#include "mcu_periph/sys_time.h"

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Data Structures
struct	visual_target_struct
struct	vision_relative_position_struct

Macros
#define	DEBUG_PRINT   printf
#define	MAVLINK_SYSID   1
#define	JEVOIS_MAVLINK_ABI_ID   34

Functions
static void	mavlink_send_heartbeat (void)
static void	mavlink_send_attitude (void)
static void	mavlink_send_highres_imu (void)
static void	mavlink_send_set_mode (void)
void	jevois_mavlink_filter_periodic (void)
void	jevois_mavlink_filter_init (void)
static void	send_jevois_mavlink_visual_target (struct transport_tx *trans, struct link_device *dev)
static void	send_jevois_mavlink_visual_position (struct transport_tx *trans, struct link_device *dev)
void	jevois_mavlink_init (void)
void	jevois_mavlink_periodic (void)
void	jevois_mavlink_event (void)

Variables
mavlink_system_t	mavlink_system
struct visual_target_struct	jevois_visual_target = {false, 0, 0, 0, 0, 0, 0}
struct vision_relative_position_struct	jevois_vision_position = {false, 0, 0.0f, 0.0f, 0.0f}
Butterworth2LowPass_int	ax_filtered
Butterworth2LowPass_int	ay_filtered
Butterworth2LowPass_int	az_filtered

Detailed Description

Author

MAVLab Send sensor data to jevois and read commands from jevois

Definition in file jevois_mavlink.c.

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Data Structure Documentation

visual_target_struct

struct visual_target_struct

Definition at line 70 of file jevois_mavlink.c.

Data Fields
int	count
int	h
int	quality
int	received
int	source
int	w
int	x
int	y

vision_relative_position_struct

struct vision_relative_position_struct

Definition at line 123 of file detect_gate.c.

Data Fields
int	cnt
int	received
float	x
float	y
float	z

Macro Definition Documentation

DEBUG_PRINT

#define DEBUG_PRINT   printf

Definition at line 29 of file jevois_mavlink.c.

JEVOIS_MAVLINK_ABI_ID

#define JEVOIS_MAVLINK_ABI_ID   34

Definition at line 177 of file jevois_mavlink.c.

MAVLINK_SYSID

#define MAVLINK_SYSID   1

Definition at line 54 of file jevois_mavlink.c.

Function Documentation

jevois_mavlink_event()

void jevois_mavlink_event

(

void

)

Definition at line 182 of file jevois_mavlink.c.

References c(), vision_relative_position_struct::cnt, visual_target_struct::count, DEBUG_PRINT, visual_target_struct::h, heartbeat, JEVOIS_MAVLINK_ABI_ID, jevois_vision_position, jevois_visual_target, MAVLinkChAvailable, MAVLinkGetch, msg, visual_target_struct::quality, visual_target_struct::received, vision_relative_position_struct::received, visual_target_struct::source, status, visual_target_struct::w, visual_target_struct::x, vision_relative_position_struct::x, visual_target_struct::y, vision_relative_position_struct::y, and vision_relative_position_struct::z.

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jevois_mavlink_filter_init()

void jevois_mavlink_filter_init

(

void

)

Definition at line 107 of file jevois_mavlink.c.

References Imu::accel_unscaled, ax_filtered, ay_filtered, az_filtered, imu, init_butterworth_2_low_pass_int(), Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by jevois_mavlink_init().

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jevois_mavlink_filter_periodic()

void jevois_mavlink_filter_periodic

(

void

)

Definition at line 99 of file jevois_mavlink.c.

References Imu::accel, ax_filtered, ay_filtered, az_filtered, imu, update_butterworth_2_low_pass_int(), Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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jevois_mavlink_init()

void jevois_mavlink_init

(

void

)

Definition at line 154 of file jevois_mavlink.c.

References DefaultPeriodic, jevois_mavlink_filter_init(), MAVLINK_SYSID, mavlink_system, register_periodic_telemetry(), send_jevois_mavlink_visual_position(), and send_jevois_mavlink_visual_target().

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jevois_mavlink_periodic()

void jevois_mavlink_periodic

(

void

)

Definition at line 168 of file jevois_mavlink.c.

References mavlink_send_attitude(), mavlink_send_heartbeat(), mavlink_send_highres_imu(), and mavlink_send_set_mode().

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mavlink_send_attitude()

static void mavlink_send_attitude ( void  )

static

Definition at line 294 of file jevois_mavlink.c.

References get_sys_time_msec(), MAVLinkSendMessage, p, stateGetBodyRates_f(), and stateGetNedToBodyEulers_f().

Referenced by jevois_mavlink_periodic().

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mavlink_send_heartbeat()

static void mavlink_send_heartbeat ( void  )

static

Definition at line 318 of file jevois_mavlink.c.

References MAVLinkSendMessage.

Referenced by jevois_mavlink_periodic().

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mavlink_send_highres_imu()

static void mavlink_send_highres_imu ( void  )

static

Definition at line 330 of file jevois_mavlink.c.

References ax_filtered, ay_filtered, az_filtered, get_butterworth_2_low_pass_int(), get_sys_time_msec(), MAVLinkSendMessage, p, stateGetBodyRates_f(), and stateGetNedToBodyEulers_f().

Referenced by jevois_mavlink_periodic().

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mavlink_send_set_mode()

static void mavlink_send_set_mode ( void  )

static

Definition at line 308 of file jevois_mavlink.c.

References get_sys_time_msec(), and MAVLinkSendMessage.

Referenced by jevois_mavlink_periodic().

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send_jevois_mavlink_visual_position()

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

static

Definition at line 135 of file jevois_mavlink.c.

References vision_relative_position_struct::cnt, dev, foo, jevois_vision_position, vision_relative_position_struct::received, vision_relative_position_struct::x, vision_relative_position_struct::y, and vision_relative_position_struct::z.

Referenced by jevois_mavlink_init().

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send_jevois_mavlink_visual_target()

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

static

Definition at line 120 of file jevois_mavlink.c.

References visual_target_struct::count, dev, visual_target_struct::h, h(), jevois_visual_target, visual_target_struct::received, s, visual_target_struct::source, visual_target_struct::w, visual_target_struct::x, and visual_target_struct::y.

Referenced by jevois_mavlink_init().

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Variable Documentation

ax_filtered

Butterworth2LowPass_int ax_filtered

Definition at line 95 of file jevois_mavlink.c.

Referenced by jevois_mavlink_filter_init(), jevois_mavlink_filter_periodic(), and mavlink_send_highres_imu().

ay_filtered

Butterworth2LowPass_int ay_filtered

Definition at line 96 of file jevois_mavlink.c.

Referenced by jevois_mavlink_filter_init(), jevois_mavlink_filter_periodic(), and mavlink_send_highres_imu().

az_filtered

Butterworth2LowPass_int az_filtered

Definition at line 97 of file jevois_mavlink.c.

Referenced by jevois_mavlink_filter_init(), jevois_mavlink_filter_periodic(), and mavlink_send_highres_imu().

jevois_vision_position

struct vision_relative_position_struct jevois_vision_position = {false, 0, 0.0f, 0.0f, 0.0f}

Referenced by jevois_mavlink_event(), and send_jevois_mavlink_visual_position().

jevois_visual_target

struct visual_target_struct jevois_visual_target = {false, 0, 0, 0, 0, 0, 0}

Referenced by jevois_mavlink_event(), and send_jevois_mavlink_visual_target().

mavlink_system

mavlink_system_t mavlink_system

Definition at line 51 of file jevois_mavlink.c.

Referenced by jevois_mavlink_init().