STATIC_INLINE void main_event(void)
{
/* event functions for mcu peripherals: i2c, usb_serial.. */
mcu_event();
DatalinkEvent();
if (autopilot_rc) {
RadioControlEvent(autopilot_on_rc_frame);
}
#if USE_IMU
ImuEvent();
#endif
#ifdef InsEvent
TODO("calling InsEvent, remove me..")
InsEvent();
#endif
#if USE_BARO_BOARD
BaroEvent();
#endif
#if USE_GPS
GpsEvent();
#endif
#if FAILSAFE_GROUND_DETECT || KILL_ON_GROUND_DETECT
DetectGroundEvent();
#endif
modules_event_task();
}
void event_task_fbw( void) {
#ifdef RADIO_CONTROL
RadioControlEvent(handle_rc_frame);
#endif
#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)
{
SetActuatorsFromCommands(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 */
}
STATIC_INLINE void main_event(void)
{
/* event functions for mcu peripherals: i2c, usb_serial.. */
mcu_event();
// Handle RC
RadioControlEvent(autopilot_on_rc_frame);
// InterMCU
InterMcuEvent(autopilot_on_ap_command);
//Modules
modules_event_task();
}
STATIC_INLINE void main_event(void)
{
/* Event functions for mcu peripherals: i2c, usb_serial.. */
mcu_event();
/* Handle RC */
RadioControlEvent(fbw_on_rc_frame);
/* InterMCU (gives autopilot commands as output) */
InterMcuEvent(fbw_on_ap_command);
/* FBW modules */
modules_event_task();
}
void main_event(void)
{
/* event functions for mcu peripherals: i2c, usb_serial.. */
mcu_event();
if (autopilot.use_rc) {
RadioControlEvent(autopilot_on_rc_frame);
}
#if USE_BARO_BOARD
BaroEvent();
#endif
autopilot_event();
modules_event_task();
}
STATIC_INLINE void main_event(void)
{
/* event functions for mcu peripherals: i2c, usb_serial.. */
mcu_event();
if (autopilot_rc) {
RadioControlEvent(autopilot_on_rc_frame);
}
#if USE_BARO_BOARD
BaroEvent();
#endif
#if FAILSAFE_GROUND_DETECT || KILL_ON_GROUND_DETECT
DetectGroundEvent();
#endif
modules_event_task();
}
void radio_control_event(void)
{
RadioControlEvent(handle_rc_frame);
}
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 */
}
void event_task_fbw(void)
{
#ifdef RADIO_CONTROL
RadioControlEvent(handle_rc_frame);
#endif
/* event functions for mcu peripherals, like i2c, uart, etc.. */
mcu_event();
#ifdef INTER_MCU
#if defined MCU_SPI_LINK | defined MCU_UART_LINK
link_mcu_event_task();
#endif /* MCU_SPI_LINK */
#if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_NO_AP_MUST_FAILSAFE
#warning OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_NO_AP_MUST_FAILSAFE loose ap is forced crash
if (ap_ok) {
ap_has_been_ok = TRUE;
}
if ((ap_has_been_ok) && (!ap_ok)) {
commands[COMMAND_FORCECRASH] = 9600;
}
#endif
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;
command_yaw_trim = ap_state->command_yaw_trim;
#if OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP
// LOST-RC: do NOT go to autonomous
// auto = stay in auto
// manual = stay in manual
#else
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.
// OUTBACK: JURY REQUEST FLIGHT TERMINATION
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
#ifdef COMMAND_YAW
trimmed_commands[COMMAND_YAW] += ChopAbs(command_yaw_trim, MAX_PPRZ);
#endif
SetActuatorsFromCommands(trimmed_commands, autopilot_mode);
fbw_new_actuators = 0;
#if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE
if (crash == 1) {
for (;;) {
#if FBW_DATALINK
fbw_datalink_event();
#endif
}
}
#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 */
#ifdef FBW_DATALINK
fbw_datalink_event();
#endif
}