main_fbw.h File Reference

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Macros
#define	STATIC_INLINE   static inline
#define	RC_LOST_FBW_MODE   FBW_MODE_FAILSAFE
	mode to enter when RC is lost while using a mode with RC input More...
#define	RC_LOST_IN_AUTO_FBW_MODE   FBW_MODE_AUTO
	mode to enter when AP is lost while using autopilot More...
#define	AP_LOST_FBW_MODE   FBW_MODE_FAILSAFE
	mode to enter when AP is lost while using autopilot More...
#define	RADIO_FBW_MODE   RADIO_MODE
	Switching between FBW and autopilot is done with RADIO_FBW_MODE: default is to re-use RADIO_MODE. More...

Functions
STATIC_INLINE void	main_init (void)
STATIC_INLINE void	main_event (void)
STATIC_INLINE void	handle_periodic_tasks (void)
STATIC_INLINE void	main_periodic (void)
STATIC_INLINE void	telemetry_periodic (void)

Detailed Description

Fly By Wire:

Reads Radiocontrol Reads Intermcu Sets Actuators

if no rc but autopilot then RC_LOST_FBW_MODE (define below) if no rc while in auto mode then RC_LOST_IN_AUTO_FBW_MODE (define below) if no ap but rc then AP_LOST_FBW_MODE (define below)

Definition in file main_fbw.h.

Macro Definition Documentation

#define AP_LOST_FBW_MODE   FBW_MODE_FAILSAFE

mode to enter when AP is lost while using autopilot

Definition at line 57 of file main_fbw.h.

Referenced by autopilot_on_rc_frame(), and main_periodic().

#define RADIO_FBW_MODE   RADIO_MODE

Switching between FBW and autopilot is done with RADIO_FBW_MODE: default is to re-use RADIO_MODE.

Definition at line 65 of file main_fbw.h.

Referenced by autopilot_on_rc_frame().

#define RC_LOST_FBW_MODE   FBW_MODE_FAILSAFE

mode to enter when RC is lost while using a mode with RC input

Definition at line 47 of file main_fbw.h.

Referenced by main_periodic().

#define RC_LOST_IN_AUTO_FBW_MODE   FBW_MODE_AUTO

mode to enter when AP is lost while using autopilot

Definition at line 52 of file main_fbw.h.

Referenced by main_periodic().

#define STATIC_INLINE   static inline

Definition at line 42 of file main_fbw.h.

Function Documentation

STATIC_INLINE void handle_periodic_tasks

(

void

)

Definition at line 241 of file main.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(), and pprz_thd().

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STATIC_INLINE void main_event ( void  )

inline

Definition at line 362 of file main.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 159 of file main.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 268 of file main.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 301 of file main.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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