main_ap.c File Reference

#include <inttypes.h>
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "subsystems/datalink/telemetry.h"
#include "subsystems/datalink/datalink.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/settings.h"
#include "subsystems/commands.h"
#include "subsystems/actuators.h"
#include "subsystems/imu.h"
#include "subsystems/gps.h"
#include "subsystems/electrical.h"
#include "autopilot.h"
#include "subsystems/radio_control.h"
#include "subsystems/ahrs.h"
#include "state.h"
#include "firmwares/rotorcraft/main_ap.h"
#include "generated/modules.h"
#include "subsystems/abi.h"
#include "subsystems/navigation/waypoints.h"

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Macros
#define	MODULES_C
#define	ABI_C
#define	RC_LOST_MODE   AP_MODE_FAILSAFE
	mode to enter when RC is lost while using a mode with RC input (not AP_MODE_NAV) More...

Functions
void	main_init (void)
void	handle_periodic_tasks (void)
void	main_periodic (void)
void	telemetry_periodic (void)
void	failsafe_check (void)
void	main_event (void)

Variables
tid_t	main_periodic_tid
	id for main_periodic() timer More...
tid_t	modules_tid
	id for modules_periodic_task() timer More...
tid_t	failsafe_tid
	id for failsafe_check() timer More...
tid_t	radio_control_tid
	id for radio_control_periodic_task() timer More...
tid_t	electrical_tid
	id for electrical_periodic() timer More...
tid_t	telemetry_tid
	id for telemetry_periodic() timer More...

Detailed Description

Rotorcraft main loop.

Definition in file main_ap.c.

Macro Definition Documentation

ABI_C

#define ABI_C

Definition at line 31 of file main_ap.c.

MODULES_C

#define MODULES_C

Definition at line 29 of file main_ap.c.

RC_LOST_MODE

#define RC_LOST_MODE   AP_MODE_FAILSAFE

mode to enter when RC is lost while using a mode with RC input (not AP_MODE_NAV)

Definition at line 291 of file main_ap.c.

Function Documentation

failsafe_check()

void failsafe_check

(

void

)

Definition at line 294 of file main_ap.c.

Referenced by handle_periodic_tasks(), and main_init().

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handle_periodic_tasks()

void handle_periodic_tasks

(

void

)

Definition at line 202 of file main_ap.c.

main_event()

void main_event ( void  )

inline

Definition at line 336 of file main_ap.c.

main_init()

void main_init ( void  )

inline

Definition at line 118 of file main_ap.c.

main_periodic()

void main_periodic ( void  )

inline

Definition at line 237 of file main_ap.c.

Referenced by handle_periodic_tasks().

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telemetry_periodic()

void telemetry_periodic

(

void

)

Definition at line 270 of file main_ap.c.

Referenced by handle_periodic_tasks().

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Variable Documentation

electrical_tid

tid_t electrical_tid

id for electrical_periodic() timer

Definition at line 112 of file main_ap.c.

Referenced by handle_periodic_tasks(), and main_init().

failsafe_tid

tid_t failsafe_tid

id for failsafe_check() timer

Definition at line 110 of file main_ap.c.

Referenced by handle_periodic_tasks(), and main_init().

main_periodic_tid

tid_t main_periodic_tid

id for main_periodic() timer

Definition at line 108 of file main_ap.c.

Referenced by handle_periodic_tasks(), and main_init().

modules_tid

tid_t modules_tid

id for modules_periodic_task() timer

Definition at line 109 of file main_ap.c.

radio_control_tid

tid_t radio_control_tid

id for radio_control_periodic_task() timer

Definition at line 111 of file main_ap.c.

Referenced by handle_periodic_tasks(), and main_init().

telemetry_tid

tid_t telemetry_tid

id for telemetry_periodic() timer

Definition at line 113 of file main_ap.c.