C++ (Cpp) inter_mcu_periodic_task Examples

Example #1

File: main_fbw.c Project: Fokker/paparazzi-1

/************* PERIODIC ******************************************************/
void periodic_task_fbw( void ) {

#ifdef RADIO_CONTROL
  radio_control_periodic_task();
  if (fbw_mode == FBW_MODE_MANUAL && radio_control.status == RC_REALLY_LOST) {
#ifdef OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP
#warning WARNING DANGER: OUTBACK_CHALLENGE RULE RC_LOST_NO_AP defined. If you loose RC you will NOT go to automatically go to AUTO2 Anymore!!
set_failsafe_mode();
#else
    fbw_mode = FBW_MODE_AUTO;
#endif
  }
#endif

#ifdef INTER_MCU
  inter_mcu_periodic_task();
  if (fbw_mode == FBW_MODE_AUTO && !ap_ok)
  {
    set_failsafe_mode();
  }
#endif

#ifdef MCU_UART_LINK
  inter_mcu_fill_fbw_state();
  link_mcu_periodic_task();
#endif

#ifdef DOWNLINK
  fbw_downlink_periodic_task();
#endif

}

Example #2

File: main_fbw.c Project: AshuLara/lisa

/************* PERIODIC ******************************************************/
void periodic_task_fbw( void ) {
  static uint8_t _10Hz; /* FIXME : sys_time should provide it */
  _10Hz++;
  if (_10Hz >= 6) _10Hz = 0;

#ifdef RADIO_CONTROL
  radio_control_periodic_task();
  if (fbw_mode == FBW_MODE_MANUAL && radio_control.status == RC_REALLY_LOST) {
    fbw_mode = FBW_MODE_AUTO;
  }
#endif

#ifdef INTER_MCU
  inter_mcu_periodic_task();
  if (fbw_mode == FBW_MODE_AUTO && !ap_ok)
  {
    set_failsafe_mode();
  }
#endif

#ifdef DOWNLINK
  fbw_downlink_periodic_task();
#endif

  if (!_10Hz) {
    electrical_periodic();
  }

}

Example #3

File: main_fbw.c Project: mantauav/paparazzi

/************* PERIODIC ******************************************************/
void periodic_task_fbw( void ) {
  static uint8_t _10Hz; /* FIXME : sys_time should provide it */
  _10Hz++;
  if (_10Hz >= 6) _10Hz = 0;

#ifdef RADIO_CONTROL
  radio_control_periodic_task();
  if (radio_control.status == RC_REALLY_LOST)
  {
    fbw_mode = fbw_rc_really_lost_mode;
//    pprz_mode= PPRZ_MODE_HOME;
  }
  if (fbw_mode == FBW_MODE_FAILSAFE)
    set_failsafe_mode();
  if (fbw_mode == FBW_MODE_MANUAL && radio_control.status == RC_REALLY_LOST) {
    fbw_mode = FBW_MODE_AUTO;
  }
#endif
/*if (radio_control.status == RC_REALLY_LOST)
{
   fbw_mode = FBW_MODE_FAILSAFE;
   set_failsafe_mode();
}*/
if (radio_control.status==RC_OK)
{
   if (pprz_mode == PPRZ_MODE_MANUAL)
   {
     fbw_mode = FBW_MODE_MANUAL;
   }
   else
   {
     if ((pprz_mode == PPRZ_MODE_AUTO1) || (pprz_mode == PPRZ_MODE_AUTO2))
       fbw_mode = FBW_MODE_AUTO;
   }
}
   

#ifdef INTER_MCU
  inter_mcu_periodic_task();
  if (fbw_mode == FBW_MODE_AUTO && !ap_ok)
    set_failsafe_mode();
#endif
#ifdef DOWNLINK
  fbw_downlink_periodic_task();
#endif

  if (!_10Hz) {
    electrical_periodic();
  }

#ifdef ACTUATORS
  #ifdef USE_RC_GYRO
  if ((fbw_mode == FBW_MODE_MANUAL) || (fbw_mode==FBW_MODE_AUTO))
  {
    rc_gyro_apply_damping(commands);
    SetActuatorsFromCommands(rc_gyro_damped_commands)
  }

Example #4

File: main_fbw.c Project: nvelozsavino/paparazzi

/**
 * Handles inter_mcu periodic checks
 */
void inter_mcu_periodic_handle(void)
{
    inter_mcu_periodic_task();
    if (fbw_mode == FBW_MODE_AUTO && !ap_ok) {
        set_failsafe_mode();
    }

#if defined MCU_UART_LINK || defined MCU_CAN_LINK
    inter_mcu_fill_fbw_state();
    link_mcu_periodic_task();
#endif /* defined MCU_UART_LINK || defined MCU_CAN_LINK */
}

Example #5

File: main_fbw.c Project: jziesing/paparazzi

/************* PERIODIC ******************************************************/
void periodic_task_fbw(void)
{

#ifdef FBW_DATALINK
  fbw_datalink_periodic();
#endif

#ifdef RADIO_CONTROL
  radio_control_periodic_task();
  if (fbw_mode == FBW_MODE_MANUAL && radio_control.status == RC_REALLY_LOST) {
#if OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP
#warning WARNING DANGER: OUTBACK_CHALLENGE RULE RC_LOST_NO_AP defined. If you loose RC you will NOT go to automatically go to AUTO2 Anymore!!
    set_failsafe_mode();
#if OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP_IRREVERSIBLE
#warning WARNING DANGER: OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP_IRREVERSIBLE defined. If you ever temporarly lost RC while in manual, you will failsafe forever even if RC is restored
    commands[COMMAND_FORCECRASH] = 9600;
#endif
#else
    fbw_mode = FBW_MODE_AUTO;
#endif
  }
#endif

#ifdef INTER_MCU
  inter_mcu_periodic_task();
  if (fbw_mode == FBW_MODE_AUTO && !ap_ok) {
    set_failsafe_mode();
  }
#endif

#ifdef MCU_UART_LINK
  inter_mcu_fill_fbw_state();
  link_mcu_periodic_task();
#endif

#ifdef MCU_CAN_LINK
  inter_mcu_fill_fbw_state();
  link_mcu_periodic_task();
#endif

#if PERIODIC_TELEMETRY
  periodic_telemetry_send_Fbw(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
#endif

}

Example #6

File: main_fbw.c Project: arizonamav/Old-paparazzi-designs

/************* PERIODIC ******************************************************/
void periodic_task_fbw( void ) {
  static uint8_t _10Hz; /* FIXME : sys_time should provide it */
  _10Hz++;
  if (_10Hz >= 6) _10Hz = 0;

#ifdef RADIO_CONTROL
  radio_control_periodic_task();
  if (fbw_mode == FBW_MODE_MANUAL && rc_status == RC_REALLY_LOST) {
    fbw_mode = FBW_MODE_AUTO;
  }
#endif

#ifdef INTER_MCU
  inter_mcu_periodic_task();
  if (fbw_mode == FBW_MODE_AUTO && !ap_ok)
    set_failsafe_mode();
#endif

#ifdef DOWNLINK
  fbw_downlink_periodic_task();
#endif

#ifdef ADC
  if (!_10Hz)
    fbw_vsupply_decivolt = VoltageOfAdc((10*(vsupply_adc_buf.sum/vsupply_adc_buf.av_nb_sample)));
#endif

#ifdef ACTUATORS
#ifdef CTL_GRZ
  if (rc_status == RC_REALLY_LOST) {
    set_failsafe_mode();
  } else {
    ctl_grz_rate_run();
  }
#endif /* CTL_GRZ */
  SetActuatorsFromCommands(commands);
#endif


}

Example #7

File: main_fbw.c Project: BrandoJS/paparazzi

/************* PERIODIC ******************************************************/
void periodic_task_fbw( void ) {

#ifdef RADIO_CONTROL
  radio_control_periodic_task();
  if (fbw_mode == FBW_MODE_MANUAL && radio_control.status == RC_REALLY_LOST) {
    fbw_mode = FBW_MODE_AUTO;
  }
#endif

#ifdef INTER_MCU
  inter_mcu_periodic_task();
  if (fbw_mode == FBW_MODE_AUTO && !ap_ok)
  {
    set_failsafe_mode();
  }
#endif

#ifdef DOWNLINK
  fbw_downlink_periodic_task();
#endif

}