/*********** EVENT ***********************************************************/ void event_task_ap( void ) { #ifndef SINGLE_MCU #if defined USE_I2C0 || defined USE_I2C1 || defined USE_I2C2 i2c_event(); #endif #endif #if USE_AHRS && USE_IMU ImuEvent(on_gyro_event, on_accel_event, on_mag_event); #endif #if USE_INS InsEvent(NULL); #endif #if USE_GPS GpsEvent(on_gps_solution); #endif /* USE_GPS */ #if USE_BAROMETER BaroEvent(on_baro_abs_event, on_baro_dif_event); #endif DatalinkEvent(); #ifdef MCU_SPI_LINK link_mcu_event_task(); #endif if (inter_mcu_received_fbw) { /* receive radio control task from fbw */ inter_mcu_received_fbw = FALSE; telecommand_task(); } modules_event_task(); #ifdef AHRS_TRIGGERED_ATTITUDE_LOOP if (new_ins_attitude > 0) { attitude_loop(); //LED_TOGGLE(3); new_ins_attitude = 0; } #endif } /* event_task_ap() */
void event_task_fbw( void) { #ifdef RADIO_CONTROL RadioControlEvent(handle_rc_frame); #endif i2c_event(); #ifdef INTER_MCU #ifdef MCU_SPI_LINK link_mcu_event_task(); #endif /* MCU_SPI_LINK */ if (inter_mcu_received_ap) { inter_mcu_received_ap = FALSE; inter_mcu_event_task(); if (ap_ok && fbw_mode == FBW_MODE_FAILSAFE) { fbw_mode = FBW_MODE_AUTO; } if (fbw_mode == FBW_MODE_AUTO) { SetCommands(ap_state->commands); } #ifdef SetApOnlyCommands else { SetApOnlyCommands(ap_state->commands); } #endif fbw_new_actuators = 1; #ifdef SINGLE_MCU inter_mcu_fill_fbw_state(); #endif /**Else the buffer is filled even if the last receive was not correct */ } #ifdef ACTUATORS if (fbw_new_actuators > 0) { pprz_t trimmed_commands[COMMANDS_NB]; int i; for(i = 0; i < COMMANDS_NB; i++) trimmed_commands[i] = commands[i]; #ifdef COMMAND_ROLL trimmed_commands[COMMAND_ROLL] += ChopAbs(command_roll_trim, MAX_PPRZ/10); #endif #ifdef COMMAND_PITCH trimmed_commands[COMMAND_PITCH] += ChopAbs(command_pitch_trim, MAX_PPRZ/10); #endif SetActuatorsFromCommands(trimmed_commands); fbw_new_actuators = 0; } #endif #ifdef MCU_SPI_LINK if (link_mcu_received) { link_mcu_received = FALSE; inter_mcu_fill_fbw_state(); /** Prepares the next message for AP */ link_mcu_restart(); /** Prepares the next SPI communication */ } #endif /* MCU_SPI_LINK */ #endif /* INTER_MCU */ }
void event_task_fbw( void) { #ifdef RADIO_CONTROL RadioControlEvent(handle_rc_frame); #endif i2c_event(); #ifdef INTER_MCU #if defined MCU_SPI_LINK | defined MCU_UART_LINK link_mcu_event_task(); #endif /* MCU_SPI_LINK */ if (inter_mcu_received_ap) { inter_mcu_received_ap = FALSE; inter_mcu_event_task(); command_roll_trim = ap_state->command_roll_trim; command_pitch_trim = ap_state->command_pitch_trim; #ifndef OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP if (ap_ok && fbw_mode == FBW_MODE_FAILSAFE) { fbw_mode = FBW_MODE_AUTO; } #endif if (fbw_mode == FBW_MODE_AUTO) { SetCommands(ap_state->commands); } #ifdef SetApOnlyCommands else { SetApOnlyCommands(ap_state->commands); } #endif fbw_new_actuators = 1; #ifdef SINGLE_MCU inter_mcu_fill_fbw_state(); #endif /**Else the buffer is filled even if the last receive was not correct */ } #if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE #warning DANGER DANGER DANGER DANGER: Outback Challenge Rule FORCE-CRASH-RULE: DANGER DANGER: AP is now capable to FORCE your FBW in failsafe mode EVEN IF RC IS NOT LOST: Consider the consequences. int crash = 0; if (commands[COMMAND_FORCECRASH] >= 8000) { set_failsafe_mode(); crash = 1; } #endif #ifdef ACTUATORS if (fbw_new_actuators > 0) { pprz_t trimmed_commands[COMMANDS_NB]; int i; for(i = 0; i < COMMANDS_NB; i++) trimmed_commands[i] = commands[i]; #ifdef COMMAND_ROLL trimmed_commands[COMMAND_ROLL] += ChopAbs(command_roll_trim, MAX_PPRZ/10); #endif #ifdef COMMAND_PITCH trimmed_commands[COMMAND_PITCH] += ChopAbs(command_pitch_trim, MAX_PPRZ/10); #endif SetActuatorsFromCommands(trimmed_commands); fbw_new_actuators = 0; #if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE if (crash == 1) { for (;;) {} } #endif } #endif #ifdef MCU_SPI_LINK if (link_mcu_received) { link_mcu_received = FALSE; inter_mcu_fill_fbw_state(); /** Prepares the next message for AP */ link_mcu_restart(); /** Prepares the next SPI communication */ } #endif /* MCU_SPI_LINK */ #endif /* INTER_MCU */ }