paparazzi/conf/autopilot/rover_steering_cruise.xml

<!DOCTYPE autopilot SYSTEM "autopilot.dtd">

<autopilot name="Steering Rover Autopilot">

  <state_machine name="ap" freq="PERIODIC_FREQUENCY" gcs_mode="true" settings_mode="true" settings_handler="autopilot_generated|SetModeHandler">

    <modules>
      <module name="nav" type="rover_base"/>
      <module name="guidance" type="rover_steering"/>
      <module name="gvf_common"/>
    </modules>

    <includes>
      <include name="generated/airframe.h"/>
      <include name="autopilot.h"/>
      <include name="autopilot_rc_helpers.h"/>
      <include name="modules/gps/gps.h"/>
      <include name="modules/actuators/actuators.h"/>
      <include name="modules/radio_control/radio_control.h"/>
      <include name="state.h"/>

      <define  name="RCLost()" value="(radio_control.status == RC_REALLY_LOST)"/> <!-- TODO: define it in nav.h?? -->
      <define  name="RCCruiseMode0()" value="rc_mode_switch(RADIO_CRUISE_MODE, 0, 2)" cond="ifdef RADIO_CRUISE_MODE"/>
      <define  name="RCCruiseMode1()" value="rc_mode_switch(RADIO_CRUISE_MODE, 1, 2)" cond="ifdef RADIO_CRUISE_MODE"/>
      <define  name="RCCruiseMode0()" value="TRUE" cond="ifndef RADIO_CRUISE_MODE"/>
      <define  name="RCCruiseMode1()" value="FALSE" cond="ifndef RADIO_CRUISE_MODE"/>
    </includes>

    <settings>
      <dl_setting var="autopilot.kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
    </settings>

    <exceptions>
      <exception cond="nav.too_far_from_home" deroute="HOME"/>
      <exception cond="kill_switch_is_on()"   deroute="KILL"/> <!-- Radio KILL_SWITCH -->
      <exception cond="RCLost() || (GpsIsLost() && autopilot_in_flight())" deroute="KILL"/>
    </exceptions>

    <!-- * AP MODES * ...................................................... -->
    <!-- RC Manual -->
    <mode name="DIRECT" shortname="MANUAL">
      <select cond="RCMode0() && RCCruiseMode0()"/>
      <on_enter>
        <call fun="rover_guidance_steering_pid_reset()"/>
      </on_enter>
      <control freq="NAVIGATION_FREQUENCY"> <!-- Only for display -->
        <call fun="nav_periodic_task()"/>
      </control>
      <control>
        <call fun="SetCommandsFromRC(commands, radio_control.values)"/>
        <call fun="SetActuatorsFromCommands(commands, autopilot_get_mode())"/>

        <call fun="SetAPThrottleFromCommands(commands[COMMAND_THROTTLE])"/>
      </control>
    </mode>

    <!-- Cruiser: Speed ctrl (from state speed on enter)
                + heading from RC --> <!-- TODO: delete this mode?? -->
    <mode name="CRUISER">
      <select cond="(RCMode1() || RCMode0()) && RCCruiseMode1()"/>
      <on_enter>
        <call fun="guidance_control.cmd.speed = stateGetHorizontalSpeedNorm_f()"/>
      </on_enter>
      <control freq="NAVIGATION_FREQUENCY">
        <call fun="nav_periodic_task()"/>
      </control>
      <control>
        <call fun="rover_guidance_steering_speed_ctrl()"/>
        <call fun="SetCommandsFromRC(commands, radio_control.values)"/>

        <call fun="commands[COMMAND_THROTTLE] = GetCmdFromThrottle(guidance_control.throttle);"/>
        <call fun="SetActuatorsFromCommands(commands, autopilot_get_mode())"/>

        <call fun="SetAPThrottleFromCommands()"/>
      </control>
    </mode>
    
    <!-- Assisted: RC manul throttle
                 + heading ctrl (from GCS & flight plans) -->
    <mode name="ASSISTED">
      <select cond="(RCMode1() || RCMode2()) && RCCruiseMode0()"/>
      <on_enter>
        <call fun="rover_guidance_steering_pid_reset()"/>
      </on_enter>
      <control freq="NAVIGATION_FREQUENCY">
        <call fun="nav_periodic_task()"/>
      </control>
      <control>
        <call fun="SetCommandsFromRC(commands, radio_control.values)"/>
        <call fun="rover_guidance_steering_heading_ctrl(gvf_c_ctrl.omega)"/>

        <call fun="commands[COMMAND_STEERING] = GetCmdFromDelta(guidance_control.cmd.delta);"/>
        <call fun="SetActuatorsFromCommands(commands, autopilot_get_mode())"/>

        <call fun="SetAPThrottleFromCommands(commands[COMMAND_THROTTLE])"/>
      </control>
    </mode>

    <!-- Navigation: Speed crtl (from state speed on enter) 
                   + heading ctrl (from GCS & flight plans) -->
    <mode name="NAV">
      <select cond="$DEFAULT_MODE"/>
      <select cond="RCMode2() && RCCruiseMode1()"/>
      <on_enter>
        <call fun="guidance_control.cmd.speed = stateGetHorizontalSpeedNorm_f()"/>
      </on_enter>
      <control freq="NAVIGATION_FREQUENCY">
        <call fun="nav_periodic_task()"/>
      </control>
      <control>
        <call fun="rover_guidance_steering_speed_ctrl()"/>
        <call fun="rover_guidance_steering_heading_ctrl(gvf_c_ctrl.omega)"/>

        <call fun="commands[COMMAND_STEERING] = GetCmdFromDelta(guidance_control.cmd.delta);"/>
        <call fun="commands[COMMAND_THROTTLE] = GetCmdFromThrottle(guidance_control.throttle);"/>
        <call fun="SetActuatorsFromCommands(commands, autopilot_get_mode())"/>

        <call fun="SetAPThrottleFromCommands()"/>
      </control>
    </mode>
    
    <!-- HOME (not yet implemented) -->
    <mode name="HOME">
      <control freq="NAVIGATION_FREQUENCY">
        <call fun="nav_home()"/>
      </control>
      <control>
        <call fun="SetActuatorsFromCommands(commands, autopilot_get_mode())"/>
        
        <call fun="SetAPThrottleFromCommands()"/>
      </control>
    </mode>

    <!-- Kill throttle -->
    <mode name="KILL">
      <on_enter>
        <call fun="autopilot_set_in_flight(false)"/>
        <call fun="autopilot_set_motors_on(false)"/>
      </on_enter>
      <control>
        <call fun="rover_guidance_steering_kill()"/>

        <call fun="SetCommands(commands_failsafe)"/>
        <call fun="SetAPThrottleFromCommands()"/>
      </control>
    </mode>
  <!-- ..................................................................... -->

  </state_machine>

</autopilot>