mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-01 12:57:27 +08:00
Pascal Brisset
124 lines
3.2 KiB
C
124 lines
3.2 KiB
C
/*
|
|
* $Id$
|
|
*
|
|
* Copyright (C) 2003 Pascal Brisset, Antoine Drouin
|
|
*
|
|
* This file is part of paparazzi.
|
|
*
|
|
* paparazzi is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 2, or (at your option)
|
|
* any later version.
|
|
*
|
|
* paparazzi is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with paparazzi; see the file COPYING. If not, write to
|
|
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
|
* Boston, MA 02111-1307, USA.
|
|
*
|
|
*/
|
|
|
|
/** \file autopilot.h
|
|
* \brief Autopilot modes
|
|
*
|
|
*/
|
|
|
|
#ifndef AUTOPILOT_H
|
|
#define AUTOPILOT_H
|
|
|
|
//#include "inter_mcu.h"
|
|
#include <inttypes.h>
|
|
#include "std.h"
|
|
#include "sys_time.h"
|
|
|
|
#define TRESHOLD_MANUAL_PPRZ (MIN_PPRZ / 2)
|
|
|
|
#define TRESHOLD1 TRESHOLD_MANUAL_PPRZ
|
|
#define TRESHOLD2 (MAX_PPRZ/2)
|
|
|
|
|
|
#define PPRZ_MODE_MANUAL 0
|
|
#define PPRZ_MODE_AUTO1 1
|
|
#define PPRZ_MODE_AUTO2 2
|
|
#define PPRZ_MODE_HOME 3
|
|
#define PPRZ_MODE_GPS_OUT_OF_ORDER 4
|
|
#define PPRZ_MODE_NB 5
|
|
|
|
#define PPRZ_MODE_OF_PULSE(pprz, mega8_status) \
|
|
(pprz > TRESHOLD2 ? PPRZ_MODE_AUTO2 : \
|
|
(pprz > TRESHOLD1 ? PPRZ_MODE_AUTO1 : PPRZ_MODE_MANUAL))
|
|
|
|
extern uint8_t pprz_mode;
|
|
|
|
|
|
#define VERTICAL_MODE_MANUAL 0
|
|
#define VERTICAL_MODE_AUTO_GAZ 1
|
|
#define VERTICAL_MODE_AUTO_CLIMB 2
|
|
#define VERTICAL_MODE_AUTO_ALT 3
|
|
#define VERTICAL_MODE_NB 4
|
|
|
|
#define LATERAL_MODE_MANUAL 0
|
|
#define LATERAL_MODE_ROLL_RATE 1
|
|
#define LATERAL_MODE_ROLL 2
|
|
#define LATERAL_MODE_COURSE 3
|
|
#define LATERAL_MODE_NB 4
|
|
|
|
#define VERTICAL_MODE_OF_PULSE(pprz) (pprz < TRESHOLD2 ? VERTICAL_MODE_MANUAL: \
|
|
VERTICAL_MODE_AUTO_ALT)
|
|
|
|
#define IR_ESTIM_MODE_OFF 0
|
|
#define IR_ESTIM_MODE_ON 1
|
|
|
|
#define IR_ESTIM_MODE_OF_PULSE(pprz) (pprz < TRESHOLD2 ? IR_ESTIM_MODE_OFF: \
|
|
IR_ESTIM_MODE_ON)
|
|
|
|
extern uint8_t ir_estim_mode;
|
|
|
|
#define STICK_PUSHED(pprz) (pprz < TRESHOLD1 || pprz > TRESHOLD2)
|
|
|
|
|
|
#define FLOAT_OF_PPRZ(pprz, center, travel) ((float)pprz / (float)MAX_PPRZ * travel + center)
|
|
|
|
extern uint8_t fatal_error_nb;
|
|
|
|
#define GAZ_THRESHOLD_TAKEOFF (pprz_t)(MAX_PPRZ * 0.9)
|
|
|
|
extern uint8_t vertical_mode;
|
|
extern uint8_t lateral_mode;
|
|
extern uint8_t vsupply;
|
|
|
|
extern bool_t rc_event_1, rc_event_2;
|
|
|
|
extern float slider_1_val, slider_2_val;
|
|
|
|
extern bool_t launch;
|
|
|
|
extern uint8_t light_mode;
|
|
extern bool_t gps_lost;
|
|
|
|
/** Assignment, returning _old_value != _value
|
|
* Using GCC expression statements */
|
|
#define ModeUpdate(_mode, _value) ({ \
|
|
uint8_t new_mode = _value; \
|
|
(_mode != new_mode ? _mode = new_mode, TRUE : FALSE); \
|
|
})
|
|
|
|
#define CheckEvent(_event) (_event ? _event = FALSE, TRUE : FALSE)
|
|
|
|
|
|
void periodic_task( void );
|
|
void telecommand_task(void);
|
|
|
|
#ifdef RADIO_CONTROL
|
|
#include "radio_control.h"
|
|
static inline void autopilot_process_radio_control ( void ) {
|
|
pprz_mode = PPRZ_MODE_OF_PULSE(rc_values[RADIO_MODE], 0);
|
|
}
|
|
#endif
|
|
|
|
#endif /* AUTOPILOT_H */
|