mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-11 07:49:41 +08:00
Gautier Hattenberger
ce7fe4c23f
Introducing several changes to the control stask for the stabilization: - new structures: stabilization, stab (att and/or rates) and thrust (vector) - more functional approach: stabilization receives the stab and thrust setpoints from guidance and fill command vector at the end - modes and sub-modes are redefined (split stab and guidance modes), some AP modes are removed (FLIP and MODULE) - RC read functions are removed and replaced by ABI bindings, one for each part (AP, stab, guidance_h, guidance_v) with dedicated functions - transition ratio (float in [0-1]) replace transition_percentage (int) - the AP_MODULE mode is replaced by generated autopilot - the ABI hack for guidance indi is not needed anymore - AP generator supports a new 'store' attribute to use return values of functions - cleaning of the stabilization API (for setter functions)
120 lines
4.0 KiB
C
120 lines
4.0 KiB
C
#ifndef GENERATED_MODULES_H
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#define GENERATED_MODULES_H
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#define MODULES_IDLE 0
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#define MODULES_RUN 1
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#define MODULES_START 2
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#define MODULES_STOP 3
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#include "std.h"
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#include "core/settings.h"
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#include "radio_control/radio_control.h"
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#include "generated/radio.h"
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#include "./mcu.h"
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#include "mcu_periph/gpio.h"
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#include "math/pprz_algebra_int.h"
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#include "math/pprz_algebra_float.h"
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#include "math/pprz_algebra_double.h"
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#include "math/pprz_geodetic_int.h"
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#include "math/pprz_geodetic_float.h"
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#include "math/pprz_geodetic_double.h"
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#include "math/pprz_trig_int.h"
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#include "math/pprz_orientation_conversion.h"
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#include "math/pprz_stat.h"
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#include "imu/imu.h"
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#include "mcu_periph/i2c.h"
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#include "gps/gps.h"
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#include "air_data/air_data.h"
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#include "ahrs/ahrs.h"
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#include "actuators/actuators.h"
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#include "mcu_periph/adc.h"
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#include "energy/electrical.h"
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#include "mcu_periph/spi.h"
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#include "./state.h"
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#include "mcu_periph/uart.h"
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#include "core/commands.h"
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// dummy variables
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extern int nav_catapult_nav_catapult_highrate_module_status;
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static inline void modules_mcu_init(void) {}
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static inline void modules_core_init(void) {}
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static inline void modules_sensors_init(void) {}
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static inline void modules_estimation_init(void) {}
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static inline void modules_radio_control_init(void) {}
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static inline void modules_control_init(void) {}
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static inline void modules_actuators_init(void) {}
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static inline void modules_datalink_init(void) {}
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static inline void modules_default_init(void) {}
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static inline void modules_init(void) {
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modules_mcu_init();
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modules_core_init();
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modules_sensors_init();
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modules_estimation_init();
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modules_radio_control_init();
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modules_control_init();
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modules_actuators_init();
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modules_datalink_init();
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modules_default_init();
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}
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static inline void modules_mcu_periodic_task(void) {}
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static inline void modules_core_periodic_task(void) {}
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static inline void modules_sensors_periodic_task(void) {}
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static inline void modules_estimation_periodic_task(void) {}
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static inline void modules_radio_control_periodic_task(void) {}
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static inline void modules_control_periodic_task(void) {}
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static inline void modules_actuators_periodic_task(void) {}
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static inline void modules_datalink_periodic_task(void) {}
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static inline void modules_default_periodic_task(void) {}
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static inline void modules_periodic_task(void) {
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modules_mcu_periodic_task();
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modules_core_periodic_task();
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modules_sensors_periodic_task();
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modules_estimation_periodic_task();
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modules_radio_control_periodic_task();
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modules_control_periodic_task();
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modules_actuators_periodic_task();
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modules_datalink_periodic_task();
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modules_default_periodic_task();
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}
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static inline void modules_mcu_event_task(void) {}
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static inline void modules_core_event_task(void) {}
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static inline void modules_sensors_event_task(void) {}
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static inline void modules_estimation_event_task(void) {}
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static inline void modules_radio_control_event_task(void) {}
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static inline void modules_control_event_task(void) {}
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static inline void modules_actuators_event_task(void) {}
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static inline void modules_datalink_event_task(void) {}
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static inline void modules_default_event_task(void) {}
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static inline void modules_event_task(void) {
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modules_mcu_event_task();
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modules_core_event_task();
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modules_sensors_event_task();
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modules_estimation_event_task();
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modules_radio_control_event_task();
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modules_control_event_task();
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modules_actuators_event_task();
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modules_datalink_event_task();
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modules_default_event_task();
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}
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#ifdef MODULES_DATALINK_C
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#include "pprzlink/messages.h"
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#include "generated/airframe.h"
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static inline void modules_parse_datalink(uint8_t msg_id __attribute__ ((unused)),
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uint8_t class_id __attribute__((unused)),
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struct link_device *dev __attribute__((unused)),
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struct transport_tx *trans __attribute__((unused)),
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uint8_t *buf __attribute__((unused))) {
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}
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#endif
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#endif // GENERATED_MODULES_H
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