Esempi in C++ (Cpp) per stabilization_rate_init

Esempio n. 1

File: stabilization.c Progetto: 1bitsquared/paparazzi

void stabilization_init(void) {
#ifndef STABILIZATION_SKIP_RATE
  stabilization_none_init();
  stabilization_rate_init();
#endif
  stabilization_attitude_init();
}

Esempio n. 2

void autopilot_init(void)
{
  autopilot_motors_on = false;
  kill_throttle = ! autopilot_motors_on;
  autopilot_in_flight = false;
  autopilot_in_flight_counter = 0;
  autopilot_mode_auto2 = MODE_AUTO2;
  autopilot_ground_detected = false;
  autopilot_detect_ground_once = false;
  autopilot_flight_time = 0;
  autopilot_rc = true;
  autopilot_power_switch = false;
#ifdef POWER_SWITCH_GPIO
  gpio_setup_output(POWER_SWITCH_GPIO);
  gpio_clear(POWER_SWITCH_GPIO); // POWER OFF
#endif

  // init GNC stack
  // TODO this should be done in modules init
  nav_init();
  guidance_h_init();
  guidance_v_init();
  stabilization_init();
  stabilization_none_init();
#if USE_STABILIZATION_RATE
  stabilization_rate_init();
#endif
  stabilization_attitude_init();

  // call implementation init
  // it will set startup mode
#if USE_GENERATED_AUTOPILOT
  autopilot_generated_init();
#else
  autopilot_static_init();
#endif

  // register messages
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AUTOPILOT_VERSION, send_autopilot_version);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ALIVE, send_alive);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_STATUS, send_status);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ATTITUDE, send_attitude);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ENERGY, send_energy);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP, send_fp);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP_MIN, send_fp_min);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_CMD, send_rotorcraft_cmd);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_DL_VALUE, send_dl_value);
#ifdef ACTUATORS
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ACTUATORS, send_actuators);
#endif
#ifdef RADIO_CONTROL
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_RC, send_rc);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_RADIO_CONTROL, send_rotorcraft_rc);
#endif
}

Esempio n. 3

File: autopilot.c Progetto: wuyou33/paparazzi

void autopilot_init(void)
{
  /* mode is finally set at end of init if MODE_STARTUP is not KILL */
  autopilot_mode = AP_MODE_KILL;
  autopilot_motors_on = false;
  kill_throttle = ! autopilot_motors_on;
  autopilot_in_flight = false;
  autopilot_in_flight_counter = 0;
  autopilot_mode_auto2 = MODE_AUTO2;
  autopilot_ground_detected = false;
  autopilot_detect_ground_once = false;
  autopilot_flight_time = 0;
  autopilot_rc = true;
  autopilot_power_switch = false;
#ifdef POWER_SWITCH_GPIO
  gpio_setup_output(POWER_SWITCH_GPIO);
  gpio_clear(POWER_SWITCH_GPIO); // POWER OFF
#endif

  autopilot_arming_init();

  nav_init();
  guidance_h_init();
  guidance_v_init();

  stabilization_init();
  stabilization_none_init();
#if USE_STABILIZATION_RATE
  stabilization_rate_init();
#endif
  stabilization_attitude_init();

  /* set startup mode, propagates through to guidance h/v */
  autopilot_set_mode(MODE_STARTUP);

  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AUTOPILOT_VERSION, send_autopilot_version);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ALIVE, send_alive);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_STATUS, send_status);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ATTITUDE, send_attitude);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ENERGY, send_energy);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP, send_fp);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP_MIN, send_fp_min);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_CMD, send_rotorcraft_cmd);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_DL_VALUE, send_dl_value);
#ifdef ACTUATORS
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ACTUATORS, send_actuators);
#endif
#ifdef RADIO_CONTROL
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_RC, send_rc);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_RADIO_CONTROL, send_rotorcraft_rc);
#endif
}

Esempio n. 4

File: autopilot.c Progetto: TienLeDinh/paparazzi

void autopilot_init(void)
{
  /* mode is finally set at end of init if MODE_STARTUP is not KILL */
  autopilot_mode = AP_MODE_KILL;
  autopilot_motors_on = FALSE;
  kill_throttle = ! autopilot_motors_on;
  autopilot_in_flight = FALSE;
  autopilot_in_flight_counter = 0;
  autopilot_mode_auto2 = MODE_AUTO2;
  autopilot_ground_detected = FALSE;
  autopilot_detect_ground_once = FALSE;
  autopilot_flight_time = 0;
  autopilot_rc = TRUE;
  autopilot_power_switch = FALSE;
#ifdef POWER_SWITCH_GPIO
  gpio_setup_output(POWER_SWITCH_GPIO);
  gpio_clear(POWER_SWITCH_GPIO); // POWER OFF
#endif

  autopilot_arming_init();

  nav_init();
  guidance_h_init();
  guidance_v_init();

  stabilization_init();
  stabilization_none_init();
  stabilization_rate_init();
  stabilization_attitude_init();

  /* set startup mode, propagates through to guidance h/v */
  autopilot_set_mode(MODE_STARTUP);

  register_periodic_telemetry(DefaultPeriodic, "AUTOPILOT_VERSION", send_autopilot_version);
  register_periodic_telemetry(DefaultPeriodic, "ALIVE", send_alive);
  register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_STATUS", send_status);
   register_periodic_telemetry(DefaultPeriodic, "ATTITUDE", send_attitude);
  register_periodic_telemetry(DefaultPeriodic, "ENERGY", send_energy);
  register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_FP", send_fp);
  register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_CMD", send_rotorcraft_cmd);
  register_periodic_telemetry(DefaultPeriodic, "DL_VALUE", send_dl_value);
#ifdef ACTUATORS
  register_periodic_telemetry(DefaultPeriodic, "ACTUATORS", send_actuators);
#endif
#ifdef RADIO_CONTROL
  register_periodic_telemetry(DefaultPeriodic, "RC", send_rc);
  register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_RADIO_CONTROL", send_rotorcraft_rc);
#endif
}