main_fbw.c File Reference

FBW ( FlyByWire ) process. More...

#include "generated/airframe.h"
#include "firmwares/fixedwing/main_fbw.h"
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/commands.h"
#include "subsystems/actuators.h"
#include "subsystems/electrical.h"
#include "subsystems/radio_control.h"
#include "firmwares/fixedwing/autopilot.h"
#include "paparazzi.h"
#include "mcu_periph/i2c.h"
#include "mcu_periph/uart.h"
#include "inter_mcu.h"
#include "link_mcu.h"

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Functions
void	init_fbw (void)
static void	set_failsafe_mode (void)
static void	handle_rc_frame (void)
void	event_task_fbw (void)
void	periodic_task_fbw (void)
void	handle_periodic_tasks_fbw (void)

Variables
uint8_t	fbw_mode
pprz_t	command_roll_trim
	Trim commands for roll, pitch and yaw. More...
pprz_t	command_pitch_trim
pprz_t	command_yaw_trim
volatile uint8_t	fbw_new_actuators = 0
tid_t	fbw_periodic_tid
	id for periodic_task_fbw() timer More...
tid_t	electrical_tid
	id for electrical_periodic() timer More...
uint8_t	ap_has_been_ok = FALSE

Detailed Description

FBW ( FlyByWire ) process.

This process is responsible for decoding radio control, generating actuators signals either from the radio control or from the commands provided by the AP (autopilot) process. It also performs a telemetry task and a low level monitoring ( for parameters like the supply )

Definition in file main_fbw.c.

Function Documentation

void event_task_fbw

(

void

)

Definition at line 190 of file main_fbw.c.

References ap_state, autopilot_mode, command_pitch_trim, command_roll_trim, command_yaw_trim, commands, FALSE, fbw_datalink_event(), fbw_mode, FBW_MODE_AUTO, FBW_MODE_FAILSAFE, fbw_new_actuators, handle_rc_frame(), inter_mcu_received_ap, link_mcu_event_task(), link_mcu_received, MAX_PPRZ, mcu_event(), RadioControlEvent, set_failsafe_mode(), SetCommands, and TRUE.

Referenced by sim_periodic_task().

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void handle_periodic_tasks_fbw

(

void

)

Definition at line 345 of file main_fbw.c.

References electrical_periodic(), electrical_tid, fbw_periodic_tid, periodic_task_fbw(), and sys_time_check_and_ack_timer().

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static void handle_rc_frame ( void  )

inlinestatic

Definition at line 177 of file main_fbw.c.

References commands, fbw_mode, FBW_MODE_MANUAL, FBW_MODE_OF_PPRZ, fbw_new_actuators, radio_control, RADIO_MODE, and RadioControl::values.

Referenced by event_task_fbw().

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void init_fbw

(

void

)

Definition at line 116 of file main_fbw.c.

References commands_failsafe, DefaultPeriodic, electrical_init(), electrical_tid, fbw_mode, FBW_MODE_FAILSAFE, fbw_new_actuators, fbw_periodic_tid, link_mcu_init(), mcu_init(), mcu_int_enable, radio_control_init(), register_periodic_telemetry(), send_actuators(), send_commands(), send_rc(), SetCommands, and sys_time_register_timer().

Referenced by sim_init().

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void periodic_task_fbw

(

void

)

Definition at line 304 of file main_fbw.c.

References commands, DefaultChannel, DefaultDevice, DefaultPeriodic, fbw_datalink_periodic(), fbw_mode, FBW_MODE_AUTO, FBW_MODE_MANUAL, link_mcu_periodic_task(), radio_control, radio_control_periodic_task(), RC_REALLY_LOST, set_failsafe_mode(), and RadioControl::status.

Referenced by handle_periodic_tasks_fbw(), and sim_periodic_task().

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static void set_failsafe_mode ( void  )

inlinestatic

Definition at line 168 of file main_fbw.c.

References commands_failsafe, fbw_mode, FBW_MODE_FAILSAFE, fbw_new_actuators, and SetCommands.

Referenced by event_task_fbw(), and periodic_task_fbw().

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Variable Documentation

uint8_t ap_has_been_ok = FALSE

Definition at line 187 of file main_fbw.c.

pprz_t command_pitch_trim

Definition at line 69 of file main_fbw.c.

Referenced by event_task_fbw().

pprz_t command_roll_trim

Trim commands for roll, pitch and yaw.

These are updated from the trim commands in ap_state via inter_mcu

Definition at line 68 of file main_fbw.c.

Referenced by event_task_fbw().

pprz_t command_yaw_trim

Definition at line 70 of file main_fbw.c.

Referenced by event_task_fbw().

tid_t electrical_tid

id for electrical_periodic() timer

Definition at line 76 of file main_fbw.c.

Referenced by handle_periodic_tasks(), handle_periodic_tasks_fbw(), init_fbw(), and main_init().

uint8_t fbw_mode

Definition at line 56 of file main_fbw.c.

Referenced by autopilot_on_ap_command(), autopilot_on_rc_frame(), event_task_fbw(), handle_rc_frame(), init_fbw(), main_init(), main_periodic(), periodic_task_fbw(), set_failsafe_mode(), and telemetry_periodic().

volatile uint8_t fbw_new_actuators = 0

Definition at line 73 of file main_fbw.c.

Referenced by event_task_fbw(), handle_rc_frame(), init_fbw(), and set_failsafe_mode().

tid_t fbw_periodic_tid

id for periodic_task_fbw() timer

Definition at line 75 of file main_fbw.c.

Referenced by handle_periodic_tasks_fbw(), and init_fbw().