void autopilot_generated_on_rc_frame(void)
{
// FIXME what to do here ?
copy_from_to_fbw();
}
void autopilot_generated_on_rc_frame(void)
{
// update electrical from FBW
imcu_get_electrical(&vsupply, ¤t, &energy);
// FIXME what to do here ?
copy_from_to_fbw();
}
/** \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
}
