Exemplo n.º 1
0
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();
}
Exemplo n.º 2
0
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 */

}
Exemplo n.º 3
0
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();
}
Exemplo n.º 4
0
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();
}
Exemplo n.º 5
0
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();
}
Exemplo n.º 6
0
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();
}
Exemplo n.º 7
0
void radio_control_event(void)
{
    RadioControlEvent(handle_rc_frame);
}
Exemplo n.º 8
0
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 */

}
Exemplo n.º 9
0
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 */

}
Exemplo n.º 10
0
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
}