mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-10-02 12:23:17 +08:00
Gautier Hattenberger
e436d78c84
There is no longer a separated FBW in normal operation for fixedwing, only a single AP task/thread. The code for main_ap is now factorized for all firmwares. Dual MCU support (separated AP and FBW) is still possible, based on the rotorcraft implementation and intermcu pprzlink messages. Relevant code is also factorized and available in all firmwares. The recovery mode (in case of hard fault) is still available for fixedwing with ChibiOS implementation. Only intermcu_uart is supported at the moment. Other options (spi/can) might be added back in the future if really used. Some other evolution are made: - in the radio_control and actuators modules, now integrated to AP and using ABI messages - the message parsing on datalink event (defined in module) that is now properly filtering the messages based on their class and allowing to have multiple callbacks for the same message - cleaning the part of code that were using the old intermcu fixedwing interface
40 lines
1.1 KiB
C
40 lines
1.1 KiB
C
/*
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* Copyright (C) 2008-2021 The Paparazzi Team
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*
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* This file is part of Paparazzi.
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*
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* Paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* Paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* @file main_ap.h
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*
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* Autopilot main loop.
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*
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* This process is reponsible for the collecting the different sensors data,
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* calling the appropriate estimation algorithms and running the different control loops.
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*/
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#ifndef MAIN_AP_H
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#define MAIN_AP_H
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extern void main_ap_init(void);
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extern void main_ap_periodic(void);
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extern void main_ap_event(void);
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#endif /* MAIN_AP_H */
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