124 lines
3.4 KiB
C
124 lines
3.4 KiB
C
/*
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$Id: autopilot.h,v 1.1 2011-01-18 12:48:38 moellmer Exp $
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Copyright (C) 2003 Pascal Brisset, Antoine Drouin
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This file is part of paparazzi.
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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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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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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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#ifndef AUTOPILOT_H
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#define AUTOPILOT_H
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#include "link_autopilot.h"
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#define TRESHOLD1 TRESHOLD_MANUAL_PPRZ
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#define TRESHOLD2 200 * CLOCK
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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_NB 4
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#define PPRZ_MODE_OF_PULSE(pprz, mega8_status) \
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(pprz > TRESHOLD2 ? PPRZ_MODE_AUTO2 : \
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(pprz > TRESHOLD1 ? PPRZ_MODE_AUTO1 : PPRZ_MODE_MANUAL))
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extern uint8_t pprz_mode;
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#define VERTICAL_MODE_MANUAL 0
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#define VERTICAL_MODE_AUTO_GAZ 1
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#define VERTICAL_MODE_AUTO_CLIMB 2
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#define VERTICAL_MODE_AUTO_ALT 3
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#define VERTICAL_MODE_NB 4
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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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#define VERTICAL_MODE_OF_PULSE(pprz) (pprz < TRESHOLD2 ? VERTICAL_MODE_MANUAL: \
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VERTICAL_MODE_AUTO_ALT)
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#define IR_ESTIM_MODE_OFF 0
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#define IR_ESTIM_MODE_ON 1
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#define IR_ESTIM_MODE_OF_PULSE(pprz) (pprz < TRESHOLD2 ? IR_ESTIM_MODE_OFF: \
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IR_ESTIM_MODE_ON)
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extern uint8_t ir_estim_mode;
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#define STICK_PUSHED(pprz) (pprz < TRESHOLD1 || pprz > TRESHOLD2)
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#define TRIM_PPRZ(pprz) (pprz < MIN_PPRZ ? MIN_PPRZ : \
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(pprz > MAX_PPRZ ? MAX_PPRZ : \
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pprz))
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#define TRIM_UPPRZ(pprz) (pprz < 0 ? 0 : \
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(pprz > MAX_PPRZ ? MAX_PPRZ : \
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pprz))
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#define FLOAT_OF_PPRZ(pprz, center, travel) ((float)pprz / (float)MAX_PPRZ * travel + center)
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extern uint8_t fatal_error_nb;
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#define GAZ_THRESHOLD_TAKEOFF (pprz_t)(MAX_PPRZ * 0.9)
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extern uint8_t inflight_calib_mode;
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//extern uint16_t flight_time;
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extern uint8_t vertical_mode;
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extern bool_t auto_pitch;
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extern uint8_t lateral_mode;
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extern uint8_t vsupply;
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extern bool_t rc_event_1, rc_event_2;
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extern float slider_1_val, slider_2_val;
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extern bool_t launch;
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#define ModeUpdate(_mode, _value) { \
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uint8_t new_mode = _value; \
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if (_mode != new_mode) { _mode = new_mode; return TRUE; } \
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return FALSE; \
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}
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#define CheckEvent(_event) (_event ? _event = FALSE, TRUE : FALSE)
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#ifdef CTL_BRD_V1_1
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extern struct adc_buf buf_bat;
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#endif
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void periodic_task( void );
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void use_gps_pos( void );
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void radio_control_task( void );
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/*receive_gps_data_task */
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void send_gps_pos( void );
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void send_radIR( void );
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void send_takeOff( void );
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/*end receive_gps_data_task*/
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void stabilisation_task( void );
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#endif /* AUTOPILOT_H */
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