autopilot.h

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/*
 * Copyright (C) 2003  Pascal Brisset, Antoine Drouin
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */

#ifndef AUTOPILOT_H
#define AUTOPILOT_H

#include <inttypes.h>
#include "std.h"
#include "paparazzi.h"
#include "generated/airframe.h"


extern void autopilot_init(void);

#define THRESHOLD_MANUAL_PPRZ (MIN_PPRZ / 2)
#define THRESHOLD1 THRESHOLD_MANUAL_PPRZ
#define THRESHOLD2 (MAX_PPRZ/2)

#define  PPRZ_MODE_MANUAL 0
#define  PPRZ_MODE_AUTO1 1
#define  PPRZ_MODE_AUTO2 2
#define  PPRZ_MODE_HOME 3
#define  PPRZ_MODE_GPS_OUT_OF_ORDER 4
#define  PPRZ_MODE_NB 5

#define PPRZ_MODE_OF_PULSE(pprz) \
  (pprz > THRESHOLD2 ? PPRZ_MODE_AUTO2 : \
   (pprz > THRESHOLD1 ? PPRZ_MODE_AUTO1 : PPRZ_MODE_MANUAL))

extern uint8_t pprz_mode;
extern bool_t kill_throttle;
extern uint8_t  mcu1_status;

extern uint16_t autopilot_flight_time;

#define autopilot_ResetFlightTimeAndLaunch(_) { \
    autopilot_flight_time = 0; launch = FALSE; \
  }


// FIXME, move to control
#define LATERAL_MODE_MANUAL    0
#define LATERAL_MODE_ROLL_RATE 1
#define LATERAL_MODE_ROLL      2
#define LATERAL_MODE_COURSE    3
#define LATERAL_MODE_NB        4
extern uint8_t lateral_mode;

#define STICK_PUSHED(pprz) (pprz < THRESHOLD1 || pprz > THRESHOLD2)
#define FLOAT_OF_PPRZ(pprz, center, travel) ((float)pprz / (float)MAX_PPRZ * travel + center)

#define THROTTLE_THRESHOLD_TAKEOFF (pprz_t)(MAX_PPRZ * 0.9)

extern uint16_t vsupply;

extern int32_t current; // milliAmpere

extern float energy;

extern bool_t launch;

extern bool_t gps_lost;

#define ModeUpdate(_mode, _value) ({ \
    uint8_t new_mode = _value; \
    (_mode != new_mode ? _mode = new_mode, TRUE : FALSE); \
  })

extern void autopilot_send_mode(void);

extern bool_t power_switch;

#ifdef POWER_SWITCH_GPIO
#include "mcu_periph/gpio.h"
#define autopilot_SetPowerSwitch(_x) { \
    power_switch = _x; \
    if (_x) { gpio_set(POWER_SWITCH_GPIO); } \
    else { gpio_clear(POWER_SWITCH_GPIO); } \
  }
#else // POWER_SWITCH_GPIO
#define autopilot_SetPowerSwitch(_x) { power_switch = _x; }
#endif // POWER_SWITCH_GPIO


/* CONTROL_RATE will be removed in the next release
 * please use CONTROL_FREQUENCY instead
 */
#ifndef CONTROL_FREQUENCY
#ifdef  CONTROL_RATE
#define CONTROL_FREQUENCY CONTROL_RATE
#warning "CONTROL_RATE is deprecated. Please use CONTROL_FREQUENCY instead. Defaults to 60Hz if not defined."
#else
#define CONTROL_FREQUENCY 60
#endif  // CONTROL_RATE
#endif  // CONTROL_FREQUENCY

#ifndef NAVIGATION_FREQUENCY
#define NAVIGATION_FREQUENCY 4
#endif

#include "subsystems/settings.h"

/* try to make sure that we don't write to flash while flying */
static inline void autopilot_StoreSettings(float store)
{
  if (kill_throttle && store) {
    settings_store_flag = store;
    settings_store();
  }
}

static inline void autopilot_ClearSettings(float clear)
{
  if (kill_throttle && clear) {
    settings_clear_flag = clear;
    settings_clear();
  }
}

#if DOWNLINK
#include "subsystems/datalink/transport.h"
extern void send_autopilot_version(struct transport_tx *trans, struct link_device *dev);
#endif

#endif /* AUTOPILOT_H */