nps_autopilot_fixedwing.c File Reference

#include "nps_autopilot.h"
#include "nps_sensors.h"
#include "nps_radio_control.h"
#include "nps_electrical.h"
#include "nps_fdm.h"
#include "subsystems/radio_control.h"
#include "subsystems/imu.h"
#include "mcu_periph/sys_time.h"
#include "state.h"
#include "subsystems/commands.h"
#include "subsystems/abi.h"
#include "autopilot.h"
#include "subsystems/datalink/datalink.h"
#include <stdio.h>
#include "subsystems/gps.h"

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Macros
#define	Fbw(f)
#define	Ap(f)
#define	NPS_BYPASS_AHRS   FALSE
#define	NPS_BYPASS_INS   FALSE

Functions
void	nps_autopilot_init (enum NpsRadioControlType type_rc, int num_rc_script, char *rc_dev)
void	nps_autopilot_run_systime_step (void)
void	nps_autopilot_run_step (double time)
void	sim_overwrite_ahrs (void)
void	sim_overwrite_ins (void)

Variables
struct NpsAutopilot	nps_autopilot
bool	nps_bypass_ahrs
bool	nps_bypass_ins

Macro Definition Documentation

Ap

#define Ap

(

f

)

Definition at line 36 of file nps_autopilot_fixedwing.c.

Fbw

#define Fbw

(

f

)

Definition at line 29 of file nps_autopilot_fixedwing.c.

NPS_BYPASS_AHRS

#define NPS_BYPASS_AHRS   FALSE

Definition at line 68 of file nps_autopilot_fixedwing.c.

NPS_BYPASS_INS

#define NPS_BYPASS_INS   FALSE

Definition at line 72 of file nps_autopilot_fixedwing.c.

Function Documentation

nps_autopilot_init()

void nps_autopilot_init	(	enum NpsRadioControlType	type_rc,
		int	num_rc_script,
		char *	rc_dev
	)

Definition at line 80 of file nps_autopilot_fixedwing.c.

References Ap, FALSE, Fbw, init, NpsAutopilot::launch, nps_autopilot, nps_bypass_ahrs, NPS_BYPASS_AHRS, nps_bypass_ins, NPS_BYPASS_INS, nps_electrical_init(), and nps_radio_control_init().

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nps_autopilot_run_step()

void nps_autopilot_run_step

(

double

time

)

Definition at line 106 of file nps_autopilot_fixedwing.c.

References AGL_SONAR_NPS_ID, AIRSPEED_NPS_ID, Ap, autopilot, BARO_SIM_SENDER_ID, NpsAutopilot::commands, commands, DefaultChannel, DefaultDevice, f, Fbw, foo, get_sys_time_usec(), gps_feed_value(), handle_periodic_tasks(), imu_feed_gyro_accel(), imu_feed_mag(), INCIDENCE_NPS_ID, pprz_autopilot::kill_throttle, NpsAutopilot::launch, pprz_autopilot::launch, MAX_PPRZ, nps_autopilot, nps_bypass_ahrs, nps_bypass_ins, NPS_COMMANDS_NB, nps_electrical_run_step(), nps_radio_control_available(), nps_sensors_airspeed_available(), nps_sensors_aoa_available(), nps_sensors_baro_available(), nps_sensors_gps_available(), nps_sensors_gyro_available(), nps_sensors_mag_available(), nps_sensors_sideslip_available(), nps_sensors_sonar_available(), nps_sensors_temperature_available(), PRINT_CONFIG_MSG(), sensors, sim_overwrite_ahrs(), and sim_overwrite_ins().

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nps_autopilot_run_systime_step()

void nps_autopilot_run_systime_step

(

void

)

Definition at line 98 of file nps_autopilot_fixedwing.c.

References sys_tick_handler().

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sim_overwrite_ahrs()

void sim_overwrite_ahrs

(

void

)

Definition at line 255 of file nps_autopilot_fixedwing.c.

References NpsFdm::body_ecef_rotvel, fdm, NpsFdm::ltp_to_body_quat, QUAT_COPY, RATES_COPY, stateSetBodyRates_f(), and stateSetNedToBodyQuat_f().

Referenced by nps_autopilot_run_step().

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sim_overwrite_ins()

void sim_overwrite_ins

(

void

)

Definition at line 268 of file nps_autopilot_fixedwing.c.

References fdm, LLA_COPY, NpsFdm::lla_pos, LlaCoor_f::lon, NpsFdm::ltpprz_ecef_accel, NpsFdm::ltpprz_ecef_vel, NpsFdm::ltpprz_pos, State::ned_initialized_f, State::ned_initialized_i, state, stateSetAccelNed_f(), stateSetPositionNed_f(), stateSetPositionUtm_f(), stateSetSpeedNed_f(), State::utm_initialized_f, utm_of_lla_f(), VECT3_COPY, and UtmCoor_f::zone.

Referenced by nps_autopilot_run_step().

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Variable Documentation

nps_autopilot

struct NpsAutopilot nps_autopilot

Definition at line 63 of file nps_autopilot_fixedwing.c.

Referenced by nps_autopilot_init(), and nps_autopilot_run_step().

nps_bypass_ahrs

bool nps_bypass_ahrs

Definition at line 64 of file nps_autopilot_fixedwing.c.

Referenced by nps_autopilot_init(), and nps_autopilot_run_step().

nps_bypass_ins

bool nps_bypass_ins

Definition at line 65 of file nps_autopilot_fixedwing.c.

Referenced by nps_autopilot_init(), and nps_autopilot_run_step().