C++ (Cpp) v_ctl_init Beispiele

Beispiel #1

Datei: main_ap.c Projekt: WenFly123/openPPZ

void init_ap( void ) 
{
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
  mcu_init();
#endif /* SINGLE_MCU */

  /************* Sensors initialization ***************/
#if USE_GPS
  gps_init();
#endif

#ifdef USE_GPIO
  GpioInit();
#endif

#if USE_IMU
  imu_init();
#endif

#if USE_AHRS_ALIGNER
  ahrs_aligner_init();
#endif

#if USE_AHRS
  ahrs_init();
#endif

#if USE_BAROMETER
  baro_init();
#endif

  ins_init();

  stateInit();

  /************* Links initialization ***************/
#if defined MCU_SPI_LINK || defined MCU_UART_LINK
  link_mcu_init();
#endif
#if USE_AUDIO_TELEMETRY
  audio_telemetry_init();
#endif

  /************ Internal status ***************/
  autopilot_init();
  h_ctl_init();
  v_ctl_init();
  nav_init();

  modules_init();

  settings_init();

  /**** start timers for periodic functions *****/
  sensors_tid = sys_time_register_timer(1./PERIODIC_FREQUENCY, NULL);
  navigation_tid = sys_time_register_timer(1./NAVIGATION_FREQUENCY, NULL);
  attitude_tid = sys_time_register_timer(1./CONTROL_FREQUENCY, NULL);
  modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
  telemetry_tid = sys_time_register_timer(1./60, NULL);
  monitor_tid = sys_time_register_timer(1.0, NULL);

  /** - start interrupt task */
  mcu_int_enable();

#if defined DATALINK
#if DATALINK == XBEE
  xbee_init();
#endif
#if DATALINK == W5100
  w5100_init();
#endif
#endif /* DATALINK */

#if defined AEROCOMM_DATA_PIN
  IO0DIR |= _BV(AEROCOMM_DATA_PIN);
  IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif

  /************ Multi-uavs status ***************/

#ifdef TRAFFIC_INFO
  traffic_info_init();
#endif
}

Beispiel #2

Datei: main_ap.c Projekt: hulatang/paparazzi

void init_ap( void ) {
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
  mcu_init();
#endif /* SINGLE_MCU */

  /****** initialize and reset state interface ********/

  stateInit();

  /************* Sensors initialization ***************/
#if USE_GPS
  gps_init();
#endif

#if USE_IMU
  imu_init();
#if USE_IMU_FLOAT
  imu_float_init();
#endif
#endif

#if USE_AHRS_ALIGNER
  ahrs_aligner_init();
#endif

#if USE_AHRS
  ahrs_init();
#endif

#if USE_AHRS && USE_IMU
  register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_fliter_status);
#endif

  air_data_init();
#if USE_BARO_BOARD
  baro_init();
#endif

  ins_init();

  /************* Links initialization ***************/
#if defined MCU_SPI_LINK || defined MCU_UART_LINK
  link_mcu_init();
#endif
#if USE_AUDIO_TELEMETRY
  audio_telemetry_init();
#endif

  /************ Internal status ***************/
  autopilot_init();
  h_ctl_init();
  v_ctl_init();
  nav_init();

  modules_init();

  settings_init();

  /**** start timers for periodic functions *****/
  sensors_tid = sys_time_register_timer(1./PERIODIC_FREQUENCY, NULL);
  navigation_tid = sys_time_register_timer(1./NAVIGATION_FREQUENCY, NULL);
  attitude_tid = sys_time_register_timer(1./CONTROL_FREQUENCY, NULL);
  modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
  telemetry_tid = sys_time_register_timer(1./TELEMETRY_FREQUENCY, NULL);
  monitor_tid = sys_time_register_timer(1.0, NULL);

  /** - start interrupt task */
  mcu_int_enable();

#if defined DATALINK
#if DATALINK == XBEE
  xbee_init();
#endif
#if DATALINK == W5100
  w5100_init();
#endif
#endif /* DATALINK */

#if defined AEROCOMM_DATA_PIN
  IO0DIR |= _BV(AEROCOMM_DATA_PIN);
  IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif

  /************ Multi-uavs status ***************/

#ifdef TRAFFIC_INFO
  traffic_info_init();
#endif

  /* set initial trim values.
   * these are passed to fbw via inter_mcu.
   */
  ap_state->command_roll_trim = COMMAND_ROLL_TRIM;
  ap_state->command_pitch_trim = COMMAND_PITCH_TRIM;
  ap_state->command_yaw_trim = COMMAND_YAW_TRIM;
}

Beispiel #3

Datei: main_ap.c Projekt: lxl/paparazzi

void init_ap( void ) {
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
  mcu_init();
  sys_time_init();
#endif /* SINGLE_MCU */

  /************* Sensors initialization ***************/
#ifdef USE_INFRARED
  infrared_init();
#endif
#ifdef USE_GYRO
  gyro_init();
#endif
#ifdef USE_GPS
  gps_init();
#endif

#ifdef USE_GPIO
  GpioInit();
#endif

#ifdef USE_IMU
  imu_init();
#endif
#ifdef USE_AHRS
  ahrs_aligner_init();
  ahrs_init();
#endif

  /************* Links initialization ***************/
#if defined MCU_SPI_LINK
  link_mcu_init();
#endif
#ifdef MODEM
  modem_init();
#endif

  /************ Internal status ***************/
  h_ctl_init();
  v_ctl_init();
  estimator_init();
#ifdef ALT_KALMAN
  alt_kalman_init();
#endif
  nav_init();

  modules_init();

  settings_init();

  /** - start interrupt task */
  mcu_int_enable();

  /** wait 0.5s (historical :-) */
  sys_time_usleep(500000);

#if defined GPS_CONFIGURE
  gps_configure_uart();
#endif

#if defined DATALINK

#if DATALINK == XBEE
  xbee_init();
#endif
#endif /* DATALINK */

#if defined AEROCOMM_DATA_PIN
  IO0DIR |= _BV(AEROCOMM_DATA_PIN);
  IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif

  power_switch = FALSE;

  /************ Multi-uavs status ***************/

#ifdef TRAFFIC_INFO
  traffic_info_init();
#endif
}

Beispiel #4

Datei: main_ap.c Projekt: MarkGriffin/paparazzi

void init_ap( void ) {
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
  hw_init();
  sys_time_init();

#ifdef LED
  led_init();
#endif

#ifdef ADC
  adc_init();
#endif
#endif /* SINGLE_MCU */

  /************* Sensors initialization ***************/
#ifdef USE_INFRARED
  ir_init();
#endif
#ifdef USE_GYRO
  gyro_init();
#endif
#ifdef USE_GPS
  gps_init();
#endif
#ifdef USE_UART0
  Uart0Init();
#endif
#ifdef USE_UART1
  Uart1Init();
#endif
#ifdef USE_UART2
  Uart2Init();
#endif
#ifdef USE_UART3
  Uart3Init();
#endif
#ifdef USE_USB_SERIAL
  VCOM_init();
#endif

#ifdef USE_GPIO
  GpioInit();
#endif

#ifdef USE_I2C0
  i2c0_init();
#endif
#ifdef USE_I2C1
  i2c1_init();
#endif
#ifdef USE_I2C2
  i2c2_init();
#endif

  /************* Links initialization ***************/
#if defined USE_SPI
  spi_init();
#endif
#if defined MCU_SPI_LINK
  link_mcu_init();
#endif
#ifdef MODEM
  modem_init();
#endif

  /************ Internal status ***************/
  h_ctl_init();
  v_ctl_init();
  estimator_init();
#ifdef ALT_KALMAN
  alt_kalman_init();
#endif
  nav_init();

  modules_init();

  /** - start interrupt task */
  int_enable();

  /** wait 0.5s (historical :-) */
  sys_time_usleep(500000);

#if defined GPS_CONFIGURE
  gps_configure_uart();
#endif

#if defined DATALINK

#if DATALINK == XBEE
  xbee_init();
#endif
#endif /* DATALINK */

#if defined AEROCOMM_DATA_PIN
  IO0DIR |= _BV(AEROCOMM_DATA_PIN);
  IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif

  power_switch = FALSE;

  /************ Multi-uavs status ***************/

#ifdef TRAFFIC_INFO
  traffic_info_init();
#endif

}