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[autopilot] call the set_mode function at startup (#3425)

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This commit is contained in:
Gautier Hattenberger
2025-02-03 11:07:18 +01:00
committed by GitHub
parent c1fffe906a
commit ca92171aec
4 changed files with 8 additions and 7 deletions
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sw/airborne/firmwares/fixedwing/autopilot_generated.c
+1 -1
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@@ -76,7 +76,7 @@ void autopilot_generated_SetModeHandler(float mode)
void autopilot_generated_set_mode(uint8_t new_autopilot_mode)
{
autopilot_core_ap_set_mode(new_autopilot_mode);
autopilot_core_ap_set_mode(new_autopilot_mode, FALSE);
// copy generated mode to public mode
autopilot.mode = autopilot_mode_ap;
}
sw/airborne/firmwares/rotorcraft/autopilot_generated.c
+1 -1
View File
@@ -80,7 +80,7 @@ void autopilot_generated_SetModeHandler(float mode)
void autopilot_generated_set_mode(uint8_t new_autopilot_mode)
{
autopilot_core_ap_set_mode(new_autopilot_mode);
autopilot_core_ap_set_mode(new_autopilot_mode, FALSE);
// copy generated mode to public mode
autopilot.mode = autopilot_mode_ap;
}
sw/airborne/firmwares/rover/autopilot_generated.c
+1 -1
View File
@@ -76,7 +76,7 @@ void autopilot_generated_SetModeHandler(float mode)
void autopilot_generated_set_mode(uint8_t new_autopilot_mode)
{
autopilot_core_ap_set_mode(new_autopilot_mode);
autopilot_core_ap_set_mode(new_autopilot_mode, FALSE);
// copy generated mode to public mode
autopilot.mode = autopilot_mode_ap;
}
sw/tools/generators/gen_autopilot.ml
+5 -4
View File
@@ -124,6 +124,7 @@ let print_ap_init = fun modes name out_h ->
lprintf out_h "autopilot_mode_%s = %s;\n" name (print_mode_name name (Xml.attrib default "name"));
lprintf out_h "private_autopilot_mode_%s = autopilot_mode_%s;\n" name name;
lprintf out_h "last_autopilot_mode_%s = autopilot_mode_%s;\n" name name;
lprintf out_h "autopilot_core_%s_set_mode(autopilot_mode_%s, TRUE);\n" name name;
left ();
lprintf out_h "}\n"
@@ -230,9 +231,9 @@ let print_set_mode = fun modes name out_h ->
lprintf out_h "}\n"
in
lprintf out_h "\nstatic inline void autopilot_core_%s_set_mode(uint8_t new_mode) {\n\n" name;
lprintf out_h "\nstatic inline void autopilot_core_%s_set_mode(uint8_t new_mode, bool force) {\n\n" name;
right ();
lprintf out_h "if (new_mode == private_autopilot_mode_%s) return;\n\n" name; (* set mode if different from current mode *)
lprintf out_h "if (new_mode == private_autopilot_mode_%s && !force) return;\n\n" name; (* set mode if different from current mode *)
(* Print stop functions for each modes *)
print_switch ("private_autopilot_mode_"^name) modes "on_exit";
fprintf out_h "\n";
@@ -322,7 +323,7 @@ let print_ap_periodic = fun modes ctrl_block main_freq name out_h ->
lprintf out_h "uint8_t mode = autopilot_core_%s_mode_select();\n" name; (* get selected mode *)
lprintf out_h "mode = autopilot_core_%s_mode_exceptions(mode);\n" name; (* change mode according to exceptions *)
lprintf out_h "mode = autopilot_core_%s_global_exceptions(mode);\n" name; (* change mode according to global exceptions *)
lprintf out_h "autopilot_core_%s_set_mode(mode);\n\n" name; (* set new mode and call start/stop functions *)
lprintf out_h "autopilot_core_%s_set_mode(mode, FALSE);\n\n" name; (* set new mode and call start/stop functions *)
lprintf out_h "switch ( private_autopilot_mode_%s ) {\n" name;
right ();
List.iter (fun m -> (* Print control loops for each modes *)
@@ -385,7 +386,6 @@ let parse_and_gen_modes xml_file ap_name main_freq h_dir sm =
fprintf out_h "\nuint8_t private_autopilot_mode_%s;\n" name;
fprintf out_h "uint8_t last_autopilot_mode_%s;\n\n" name;
(* Print functions *)
print_ap_init modes name out_h;
print_test_select modes name out_h;
print_test_exception modes name out_h;
print_global_exceptions (get_exceptions sm) name out_h;
@@ -395,6 +395,7 @@ let parse_and_gen_modes xml_file ap_name main_freq h_dir sm =
| None, f -> f
| Some f, _ -> f
in
print_ap_init modes name out_h;
print_ap_periodic modes ctrl_block freq name out_h;
(* End and close file *)
fprintf out_h "\n#endif // AUTOPILOT_CORE_%s_C\n" name_up;