demo_ahrs_actuators.c File Reference

Demo prog with ahrs and simple roll/pitch commands to actuators. More...

#include <inttypes.h>
#include "subsystems/datalink/telemetry.h"
#include "subsystems/datalink/datalink.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/abi.h"
#include "generated/airframe.h"
#include "generated/settings.h"
#include "std.h"
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "state.h"
#include "subsystems/imu.h"
#include "subsystems/ahrs.h"
#include "subsystems/ahrs/ahrs_aligner.h"
#include "subsystems/commands.h"
#include "subsystems/actuators.h"
#include "subsystems/settings.h"
#include "pprz_version.h"

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Macros
#define	PERIODIC_C_MAIN
#define	ABI_C
#define	DATALINK_C
#define	DEMO_MAX_ROLL   RadOfDeg(65)
#define	DEMO_MAX_PITCH   RadOfDeg(65)

Functions
static void	main_init (void)
static void	main_periodic_task (void)
static void	main_event_task (void)
static void	send_alive (struct transport_tx *trans, struct link_device *dev)
static void	send_autopilot_version (struct transport_tx *trans, struct link_device *dev)
static void	send_actuators (struct transport_tx *trans, struct link_device *dev)
static void	send_commands (struct transport_tx *trans, struct link_device *dev)
int	main (void)
void	dl_parse_msg (void)
	Should be called when chars are available in dl_buffer. More...

Variables
uint16_t	datalink_time = 0

Detailed Description

Demo prog with ahrs and simple roll/pitch commands to actuators.

Definition in file demo_ahrs_actuators.c.

Macro Definition Documentation

#define ABI_C

Definition at line 31 of file demo_ahrs_actuators.c.

#define DATALINK_C

Definition at line 32 of file demo_ahrs_actuators.c.

#define DEMO_MAX_PITCH   RadOfDeg(65)

Definition at line 63 of file demo_ahrs_actuators.c.

#define DEMO_MAX_ROLL   RadOfDeg(65)

Definition at line 59 of file demo_ahrs_actuators.c.

Referenced by main_periodic_task().

#define PERIODIC_C_MAIN

Definition at line 30 of file demo_ahrs_actuators.c.

Function Documentation

void dl_parse_msg

(

void

)

Should be called when chars are available in dl_buffer.

Definition at line 145 of file demo_ahrs_actuators.c.

int main

(

void

)

Definition at line 77 of file demo_ahrs_actuators.c.

References main_event_task(), main_init(), main_periodic_task(), and sys_time_check_and_ack_timer().

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static void main_event_task ( void  )

inlinestatic

Definition at line 137 of file demo_ahrs_actuators.c.

References DatalinkEvent, ImuEvent, and mcu_event().

Referenced by main().

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static void main_init ( void  )

inlinestatic

Definition at line 89 of file demo_ahrs_actuators.c.

References ahrs_aligner_init(), ahrs_init(), Imu::body_to_imu, DefaultPeriodic, downlink_init(), imu, imu_init(), mcu_init(), mcu_int_enable, orientationGetQuat_f(), PERIODIC_FREQUENCY, register_periodic_telemetry(), send_actuators(), send_alive(), send_autopilot_version(), send_commands(), settings_init(), stateInit(), and sys_time_register_timer().

Referenced by main().

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static void main_periodic_task ( void  )

inlinestatic

Definition at line 118 of file demo_ahrs_actuators.c.

References commands, datalink_time, DefaultChannel, DefaultDevice, DefaultPeriodic, DEMO_MAX_ROLL, imu_periodic(), LED_PERIODIC, MAX_PPRZ, sys_time::nb_sec, PERIODIC_FREQUENCY, FloatEulers::phi, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by main().

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

static

Definition at line 186 of file demo_ahrs_actuators.c.

Referenced by autopilot_init(), init_fbw(), and main_init().

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

static

Definition at line 174 of file demo_ahrs_actuators.c.

Referenced by main_init().

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void send_autopilot_version ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 179 of file demo_ahrs_actuators.c.

Referenced by main_init().

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

static

Definition at line 191 of file demo_ahrs_actuators.c.

References commands.

Referenced by init_fbw(), link_mcu_init(), and main_init().

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Variable Documentation

uint16_t datalink_time = 0

Definition at line 75 of file demo_ahrs_actuators.c.

Referenced by main_periodic_task().