/** \brief Function to be called when a message from FBW is available */
static inline void telecommand_task( void ) {
uint8_t mode_changed = FALSE;
copy_from_to_fbw();
uint8_t really_lost = bit_is_set(fbw_state->status, STATUS_RADIO_REALLY_LOST) && (pprz_mode == PPRZ_MODE_AUTO1 || pprz_mode == PPRZ_MODE_MANUAL);
if (pprz_mode != PPRZ_MODE_HOME && pprz_mode != PPRZ_MODE_GPS_OUT_OF_ORDER && launch) {
if (too_far_from_home) {
pprz_mode = PPRZ_MODE_HOME;
mode_changed = TRUE;
}
if (really_lost) {
pprz_mode = RC_LOST_MODE;
mode_changed = TRUE;
}
}
if (bit_is_set(fbw_state->status, AVERAGED_CHANNELS_SENT)) {
bool_t pprz_mode_changed = pprz_mode_update();
mode_changed |= pprz_mode_changed;
#if defined RADIO_CALIB && defined RADIO_CONTROL_SETTINGS
bool_t calib_mode_changed = RcSettingsModeUpdate(fbw_state->channels);
rc_settings(calib_mode_changed || pprz_mode_changed);
mode_changed |= calib_mode_changed;
#endif
}
mode_changed |= mcu1_status_update();
if ( mode_changed )
PERIODIC_SEND_PPRZ_MODE(DefaultChannel);
#if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1
/** In AUTO1 mode, compute roll setpoint and pitch setpoint from
* \a RADIO_ROLL and \a RADIO_PITCH \n
*/
if (pprz_mode == PPRZ_MODE_AUTO1) {
/** Roll is bounded between [-AUTO1_MAX_ROLL;AUTO1_MAX_ROLL] */
h_ctl_roll_setpoint = FLOAT_OF_PPRZ(fbw_state->channels[RADIO_ROLL], 0., -AUTO1_MAX_ROLL);
/** Pitch is bounded between [-AUTO1_MAX_PITCH;AUTO1_MAX_PITCH] */
h_ctl_pitch_setpoint = FLOAT_OF_PPRZ(fbw_state->channels[RADIO_PITCH], 0., AUTO1_MAX_PITCH);
} /** Else asynchronously set by \a h_ctl_course_loop() */
/** In AUTO1, throttle comes from RADIO_THROTTLE
In MANUAL, the value is copied to get it in the telemetry */
if (pprz_mode == PPRZ_MODE_MANUAL || pprz_mode == PPRZ_MODE_AUTO1) {
v_ctl_throttle_setpoint = fbw_state->channels[RADIO_THROTTLE];
}
/** else asynchronously set by v_ctl_climb_loop(); */
mcu1_ppm_cpt = fbw_state->ppm_cpt;
#endif // RADIO_CONTROL
vsupply = fbw_state->vsupply;
current = fbw_state->current;
#ifdef RADIO_CONTROL
if (!estimator_flight_time) {
if (pprz_mode == PPRZ_MODE_AUTO2 && fbw_state->channels[RADIO_THROTTLE] > THROTTLE_THRESHOLD_TAKEOFF) {
launch = TRUE;
}
}
#endif
}
/** \fn void navigation_task( void )
* \brief Compute desired_course
*/
static void navigation_task( void ) {
#if defined FAILSAFE_DELAY_WITHOUT_GPS
/** This section is used for the failsafe of GPS */
static uint8_t last_pprz_mode;
/** If aircraft is launched and is in autonomus mode, go into
PPRZ_MODE_GPS_OUT_OF_ORDER mode (Failsafe) if we lost the GPS */
if (launch) {
if (GpsTimeoutError) {
if (pprz_mode == PPRZ_MODE_AUTO2 || pprz_mode == PPRZ_MODE_HOME) {
last_pprz_mode = pprz_mode;
pprz_mode = PPRZ_MODE_GPS_OUT_OF_ORDER;
PERIODIC_SEND_PPRZ_MODE(DefaultChannel);
gps_lost = TRUE;
}
} else /* GPS is ok */ if (gps_lost) {
/** If aircraft was in failsafe mode, come back in previous mode */
pprz_mode = last_pprz_mode;
gps_lost = FALSE;
PERIODIC_SEND_PPRZ_MODE(DefaultChannel);
}
}
#endif /* GPS && FAILSAFE_DELAY_WITHOUT_GPS */
common_nav_periodic_task_4Hz();
if (pprz_mode == PPRZ_MODE_HOME)
nav_home();
else if (pprz_mode == PPRZ_MODE_GPS_OUT_OF_ORDER)
nav_without_gps();
else
nav_periodic_task();
#ifdef TCAS
CallTCAS();
#endif
#ifndef PERIOD_NAVIGATION_DefaultChannel_0 // If not sent periodically (in default 0 mode)
SEND_NAVIGATION(DefaultChannel);
#endif
SEND_CAM(DefaultChannel);
/* The nav task computes only nav_altitude. However, we are interested
by desired_altitude (= nav_alt+alt_shift) in any case.
So we always run the altitude control loop */
if (v_ctl_mode == V_CTL_MODE_AUTO_ALT)
v_ctl_altitude_loop();
if (pprz_mode == PPRZ_MODE_AUTO2 || pprz_mode == PPRZ_MODE_HOME
|| pprz_mode == PPRZ_MODE_GPS_OUT_OF_ORDER) {
#ifdef H_CTL_RATE_LOOP
/* Be sure to be in attitude mode, not roll */
h_ctl_auto1_rate = FALSE;
#endif
if (lateral_mode >=LATERAL_MODE_COURSE)
h_ctl_course_loop(); /* aka compute nav_desired_roll */
if (v_ctl_mode >= V_CTL_MODE_AUTO_CLIMB)
v_ctl_climb_loop();
if (v_ctl_mode == V_CTL_MODE_AUTO_THROTTLE)
v_ctl_throttle_setpoint = nav_throttle_setpoint;
#if defined V_CTL_THROTTLE_IDLE
Bound(v_ctl_throttle_setpoint, TRIM_PPRZ(V_CTL_THROTTLE_IDLE*MAX_PPRZ), MAX_PPRZ);
#endif
#ifdef V_CTL_POWER_CTL_BAT_NOMINAL
if (vsupply > 0.) {
v_ctl_throttle_setpoint *= 10. * V_CTL_POWER_CTL_BAT_NOMINAL / (float)vsupply;
v_ctl_throttle_setpoint = TRIM_UPPRZ(v_ctl_throttle_setpoint);
}
#endif
h_ctl_pitch_setpoint = nav_pitch;
Bound(h_ctl_pitch_setpoint, H_CTL_PITCH_MIN_SETPOINT, H_CTL_PITCH_MAX_SETPOINT);
if (kill_throttle || (!estimator_flight_time && !launch))
v_ctl_throttle_setpoint = 0;
}
energy += ((float)current) / 3600.0f * 0.25f; // mAh = mA * dt (4Hz -> hours)
}
/**
* Compute desired_course
*/
void navigation_task( void ) {
#if defined FAILSAFE_DELAY_WITHOUT_GPS
/** This section is used for the failsafe of GPS */
static uint8_t last_pprz_mode;
/** If aircraft is launched and is in autonomus mode, go into
PPRZ_MODE_GPS_OUT_OF_ORDER mode (Failsafe) if we lost the GPS */
if (launch) {
if (GpsTimeoutError) {
if (pprz_mode == PPRZ_MODE_AUTO2 || pprz_mode == PPRZ_MODE_HOME) {
last_pprz_mode = pprz_mode;
pprz_mode = PPRZ_MODE_GPS_OUT_OF_ORDER;
PERIODIC_SEND_PPRZ_MODE(DefaultChannel, DefaultDevice);
gps_lost = TRUE;
}
} else if (gps_lost) { /* GPS is ok */
/** If aircraft was in failsafe mode, come back in previous mode */
pprz_mode = last_pprz_mode;
gps_lost = FALSE;
PERIODIC_SEND_PPRZ_MODE(DefaultChannel, DefaultDevice);
}
}
#endif /* GPS && FAILSAFE_DELAY_WITHOUT_GPS */
common_nav_periodic_task_4Hz();
if (pprz_mode == PPRZ_MODE_HOME)
nav_home();
else if (pprz_mode == PPRZ_MODE_GPS_OUT_OF_ORDER)
nav_without_gps();
else
nav_periodic_task();
#ifdef TCAS
CallTCAS();
#endif
#ifndef PERIOD_NAVIGATION_0 // If not sent periodically (in default 0 mode)
SEND_NAVIGATION(DefaultChannel, DefaultDevice);
#endif
SEND_CAM(DefaultChannel, DefaultDevice);
/* The nav task computes only nav_altitude. However, we are interested
by desired_altitude (= nav_alt+alt_shift) in any case.
So we always run the altitude control loop */
if (v_ctl_mode == V_CTL_MODE_AUTO_ALT)
v_ctl_altitude_loop();
if (pprz_mode == PPRZ_MODE_AUTO2 || pprz_mode == PPRZ_MODE_HOME
|| pprz_mode == PPRZ_MODE_GPS_OUT_OF_ORDER) {
#ifdef H_CTL_RATE_LOOP
/* Be sure to be in attitude mode, not roll */
h_ctl_auto1_rate = FALSE;
#endif
if (lateral_mode >=LATERAL_MODE_COURSE)
h_ctl_course_loop(); /* aka compute nav_desired_roll */
// climb_loop(); //4Hz
}
energy += ((float)current) / 3600.0f * 0.25f; // mAh = mA * dt (4Hz -> hours)
}