#include "std.h"
#include "subsystems/commands.h"

Include dependency graph for autopilot_utils.h:

This graph shows which files directly or indirectly include this file:

Macros
#define	FAILSAFE_DESCENT_SPEED 1.5
	Set descent speed in failsafe mode. More...

#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)
	Set Rotorcraft commands. More...

Detailed Description

Utility functions and includes for autopilots

Definition in file autopilot_utils.h.

Macro Definition Documentation

◆ FAILSAFE_DESCENT_SPEED

#define FAILSAFE_DESCENT_SPEED 1.5

Set descent speed in failsafe mode.

Definition at line 37 of file autopilot_utils.h.

◆ SetRotorcraftCommands

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

Definition at line 64 of file autopilot_utils.h.

Function Documentation

◆ ap_ahrs_is_aligned()

bool ap_ahrs_is_aligned ( void )

Display descent speed in failsafe mode if needed.

Definition at line 41 of file autopilot_utils.c.

◆ ap_mode_of_3way_switch()

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.

◆ set_rotorcraft_commands()

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

Set Rotorcraft commands.

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.

Macros

Functions