main_fbw.c File Reference

Rotorcraft FBW main loop. More...

#include <inttypes.h>
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "subsystems/commands.h"
#include "subsystems/actuators.h"
#include "subsystems/electrical.h"
#include "subsystems/radio_control.h"
#include "subsystems/intermcu/intermcu_fbw.h"
#include "firmwares/rotorcraft/main_fbw.h"
#include "firmwares/rotorcraft/autopilot_rc_helpers.h"

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Enumerations
enum	fbw_mode_enum { FBW_MODE_MANUAL = 0, FBW_MODE_AUTO = 1, FBW_MODE_FAILSAFE = 2 }
	Fly by wire modes. More...

Functions
int	main (void)
STATIC_INLINE void	main_init (void)
STATIC_INLINE void	handle_periodic_tasks (void)
STATIC_INLINE void	telemetry_periodic (void)
STATIC_INLINE void	main_periodic (void)
static void	autopilot_on_rc_frame (void)
static void	autopilot_on_ap_command (void)
STATIC_INLINE void	main_event (void)

Variables
fbw_mode_enum	fbw_mode
tid_t	main_periodic_tid
	id for main_periodic() 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 FBW main loop.

Definition in file main_fbw.c.

Enumeration Type Documentation

enum fbw_mode_enum

Fly by wire modes.

Enumerator
FBW_MODE_MANUAL
FBW_MODE_AUTO
FBW_MODE_FAILSAFE

Definition at line 53 of file main_fbw.c.

Function Documentation

static void autopilot_on_ap_command ( void  )

static

Definition at line 222 of file main_fbw.c.

References fbw_mode, FBW_MODE_MANUAL, intermcu_commands, and SetCommands.

Referenced by main_event().

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static void autopilot_on_rc_frame ( void  )

static

Definition at line 194 of file main_fbw.c.

References AP_LOST_FBW_MODE, commands, fbw_mode, FBW_MODE_AUTO, FBW_MODE_MANUAL, inter_mcu, INTERMCU_LOST, intermcu_on_rc_frame(), MIN_PPRZ, radio_control, RADIO_FBW_MODE, intermcu_t::status, and RadioControl::values.

Referenced by main_event().

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STATIC_INLINE void handle_periodic_tasks

(

void

)

Definition at line 116 of file main_fbw.c.

References baro_periodic(), electrical_periodic(), electrical_tid, failsafe_check(), main_periodic(), main_periodic_tid, radio_control_periodic_task(), radio_control_tid, sys_time_check_and_ack_timer(), telemetry_periodic(), and telemetry_tid.

Referenced by main().

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int main

(

void

)

Definition at line 68 of file main_fbw.c.

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

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STATIC_INLINE void main_event ( void  )

inline

Definition at line 229 of file main_fbw.c.

References autopilot_on_ap_command(), autopilot_on_rc_frame(), autopilot_rc, BaroEvent, DatalinkEvent, DetectGroundEvent(), GpsEvent, ImuEvent, InsEvent, InterMcuEvent(), mcu_event(), and RadioControlEvent.

Referenced by main().

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STATIC_INLINE void main_init ( void  )

inline

Definition at line 81 of file main_fbw.c.

References ahrs_aligner_init(), ahrs_init(), autopilot_init(), baro_init(), BARO_PERIODIC_FREQUENCY, Imu::body_to_imu, downlink_init(), electrical_init(), electrical_tid, failsafe_check(), fbw_mode, FBW_MODE_FAILSAFE, gps_init(), imu, imu_init(), ins_init(), intermcu_init(), main_periodic_tid, mcu_init(), mcu_int_enable, motor_mixing_init(), orientationGetQuat_f(), PERIODIC_FREQUENCY, radio_control_init(), radio_control_tid, settings_init(), stateInit(), sys_time_register_timer(), TELEMETRY_FREQUENCY, and telemetry_tid.

Referenced by main().

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STATIC_INLINE void main_periodic ( void  )

inline

Definition at line 146 of file main_fbw.c.

References AP_LOST_FBW_MODE, autopilot_flight_time, autopilot_in_flight, autopilot_mode, autopilot_periodic(), commands, commands_failsafe, datalink_time, fbw_mode, FBW_MODE_AUTO, FBW_MODE_FAILSAFE, FBW_MODE_MANUAL, imu_periodic(), inter_mcu, INTERMCU_LOST, intermcu_periodic(), intermcu_set_actuators(), LED_PERIODIC, PERIODIC_FREQUENCY, radio_control, RC_LOST_FBW_MODE, RC_LOST_IN_AUTO_FBW_MODE, RC_REALLY_LOST, SetCommands, intermcu_t::status, and RadioControl::status.

Referenced by handle_periodic_tasks().

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STATIC_INLINE void telemetry_periodic

(

void

)

Definition at line 136 of file main_fbw.c.

References DefaultChannel, DefaultDevice, DefaultPeriodic, FALSE, fbw_mode, intermcu_send_status(), send_autopilot_version(), and TRUE.

Referenced by handle_periodic_tasks().

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Variable Documentation

tid_t electrical_tid

id for electrical_periodic() timer

Definition at line 64 of file main_fbw.c.

fbw_mode_enum fbw_mode

Definition at line 54 of file main_fbw.c.

tid_t main_periodic_tid

id for main_periodic() timer

Definition at line 61 of file main_fbw.c.

Referenced by handle_periodic_tasks(), and main_init().

tid_t radio_control_tid

id for radio_control_periodic_task() timer

Definition at line 63 of file main_fbw.c.

Referenced by handle_periodic_tasks(), and main_init().

tid_t telemetry_tid

id for telemetry_periodic() timer

Definition at line 65 of file main_fbw.c.

Referenced by handle_periodic_tasks(), and main_init().