main.c File Reference

Rotorcraft main loop. More...

#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 "firmwares/rotorcraft/autopilot.h"
#include "subsystems/radio_control.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/guidance.h"
#include "subsystems/ahrs.h"
#include "subsystems/ahrs/ahrs_aligner.h"
#include "subsystems/ins.h"
#include "state.h"
#include "firmwares/rotorcraft/main.h"
#include "generated/modules.h"
#include "subsystems/abi.h"

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Macros
#define	MODULES_C
#define	ABI_C
#define	BARO_PERIODIC_FREQUENCY   50
#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
int	main (void)
STATIC_INLINE void	main_init (void)
STATIC_INLINE void	handle_periodic_tasks (void)
STATIC_INLINE void	main_periodic (void)
STATIC_INLINE void	telemetry_periodic (void)
STATIC_INLINE void	failsafe_check (void)
STATIC_INLINE 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.c.

Macro Definition Documentation

#define ABI_C

Definition at line 31 of file main.c.

#define BARO_PERIODIC_FREQUENCY   50

Definition at line 101 of file main.c.

Referenced by init_ap(), and main_init().

#define MODULES_C

Definition at line 29 of file main.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)

Definition at line 322 of file main.c.

Referenced by failsafe_check().

Function Documentation

STATIC_INLINE void failsafe_check

(

void

)

Definition at line 325 of file main.c.

References AP_MODE_FAILSAFE, AP_MODE_HOME, AP_MODE_KILL, AP_MODE_NAV, autopilot_check_in_flight(), autopilot_mode, autopilot_motors_on, autopilot_set_mode(), Electrical::bat_critical, electrical, gps_periodic_check(), GpsIsLost, radio_control, RC_LOST_MODE, RC_OK, RC_REALLY_LOST, and RadioControl::status.

Referenced by handle_periodic_tasks(), and main_init().

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STATIC_INLINE void handle_periodic_tasks

(

void

)

Definition at line 241 of file main.c.

Referenced by main(), and pprz_thd().

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int main

(

void

)

Definition at line 123 of file main.c.

References get_sys_time_usec(), handle_periodic_tasks(), main_event(), main_init(), and sys_time_usleep().

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static void main_event ( void  )

inline

Definition at line 362 of file main.c.

Referenced by main().

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static void main_init ( void  )

inline

Definition at line 159 of file main.c.

Referenced by main().

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static void main_periodic ( void  )

inline

Definition at line 268 of file main.c.

Referenced by handle_periodic_tasks().

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STATIC_INLINE void telemetry_periodic

(

void

)

Definition at line 301 of file main.c.

Referenced by handle_periodic_tasks().

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Variable Documentation

tid_t electrical_tid

id for electrical_periodic() timer

Definition at line 116 of file main.c.

tid_t failsafe_tid

id for failsafe_check() timer

Definition at line 114 of file main.c.

tid_t main_periodic_tid

id for main_periodic() timer

Definition at line 112 of file main.c.

tid_t modules_tid

id for modules_periodic_task() timer

Definition at line 113 of file main.c.

tid_t radio_control_tid

id for radio_control_periodic_task() timer

Definition at line 115 of file main.c.

tid_t telemetry_tid

id for telemetry_periodic() timer

Definition at line 117 of file main.c.