mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 05:42:49 +08:00
Felix Ruess
138 lines
3.5 KiB
C
138 lines
3.5 KiB
C
/*
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* Copyright (C) 2003 Pascal Brisset, Antoine Drouin
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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, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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/**
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* @file firmwares/fixedwing/autopilot.h
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*
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* Fixedwing autopilot modes.
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*
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*/
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#ifndef AUTOPILOT_H
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#define AUTOPILOT_H
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#include <inttypes.h>
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#include "std.h"
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#include "paparazzi.h"
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#include "generated/airframe.h"
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/** Autopilot inititalization.
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*/
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extern void autopilot_init(void);
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/** Threshold for RC mode detection.
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*/
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#define THRESHOLD_MANUAL_PPRZ (MIN_PPRZ / 2)
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#define THRESHOLD1 THRESHOLD_MANUAL_PPRZ
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#define THRESHOLD2 (MAX_PPRZ/2)
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/** AP modes.
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*/
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#define PPRZ_MODE_MANUAL 0
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#define PPRZ_MODE_AUTO1 1
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#define PPRZ_MODE_AUTO2 2
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#define PPRZ_MODE_HOME 3
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#define PPRZ_MODE_GPS_OUT_OF_ORDER 4
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#define PPRZ_MODE_NB 5
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#define PPRZ_MODE_OF_PULSE(pprz) \
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(pprz > THRESHOLD2 ? PPRZ_MODE_AUTO2 : \
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(pprz > THRESHOLD1 ? PPRZ_MODE_AUTO1 : PPRZ_MODE_MANUAL))
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extern uint8_t pprz_mode;
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extern bool_t kill_throttle;
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/** flight time in seconds. */
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extern uint16_t autopilot_flight_time;
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#define autopilot_ResetFlightTimeAndLaunch(_) { \
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autopilot_flight_time = 0; launch = FALSE; \
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}
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// FIXME, move to control
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#define LATERAL_MODE_MANUAL 0
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#define LATERAL_MODE_ROLL_RATE 1
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#define LATERAL_MODE_ROLL 2
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#define LATERAL_MODE_COURSE 3
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#define LATERAL_MODE_NB 4
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extern uint8_t lateral_mode;
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#define STICK_PUSHED(pprz) (pprz < THRESHOLD1 || pprz > THRESHOLD2)
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#define FLOAT_OF_PPRZ(pprz, center, travel) ((float)pprz / (float)MAX_PPRZ * travel + center)
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#define THROTTLE_THRESHOLD_TAKEOFF (pprz_t)(MAX_PPRZ * 0.9)
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/** Supply voltage in deciVolt.
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* This the ap copy of the measurement from fbw
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*/
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extern uint16_t vsupply;
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/** Fuel consumption (mAh)
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* TODO: move to electrical subsystem
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*/
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extern float energy;
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extern bool_t launch;
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extern bool_t gps_lost;
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/** Assignment, returning _old_value != _value
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* Using GCC expression statements */
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#define ModeUpdate(_mode, _value) ({ \
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uint8_t new_mode = _value; \
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(_mode != new_mode ? _mode = new_mode, TRUE : FALSE); \
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})
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/** Power switch control.
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*/
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extern bool_t power_switch;
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#ifdef POWER_SWITCH_LED
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#define autopilot_SetPowerSwitch(_x) { \
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power_switch = _x; \
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if (_x) LED_ON(POWER_SWITCH_LED) else LED_OFF(POWER_SWITCH_LED); \
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}
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#else // POWER_SWITCH_LED
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#define autopilot_SetPowerSwitch(_x) { power_switch = _x; }
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#endif // POWER_SWITCH_LED
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/* CONTROL_RATE will be removed in the next release
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* please use CONTROL_FREQUENCY instead
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*/
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#ifndef CONTROL_FREQUENCY
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#ifdef CONTROL_RATE
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#define CONTROL_FREQUENCY CONTROL_RATE
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#warning "CONTROL_RATE is deprecated. Please use CONTROL_FREQUENCY instead. Defaults to 60Hz if not defined."
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#else
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#define CONTROL_FREQUENCY 60
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#endif // CONTROL_RATE
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#endif // CONTROL_FREQUENCY
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#ifndef NAVIGATION_FREQUENCY
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#define NAVIGATION_FREQUENCY 4
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#endif
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#endif /* AUTOPILOT_H */
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