Highest level control module which decides the control state. More...

Files
file	failsafe_control.c
	Failsafe controller when transmitter control is lost.

file	geofence_control.c
	Geofence controller that is enabled when out of zone.

file	failsafe_control.h
	Failsafe controller when transmitter control is lost.

file	geofence_control.h
	Geofence controller that is enabled when out of zone.

file	tablet_control.h
	Use tablet for control source.

file	transmitter_control.h
	Process transmitter inputs and use as control source.

file	manualcontrol.c
	ManualControl module. Handles safety R/C link and flight mode.

file	tablet_control.c
	Use tablet for control source.

file	transmitter_control.c
	Handles R/C link and flight mode.

Data Structures
struct	rcvr_activity_fsm

Macros
#define	assumptions1

#define	assumptions3

#define	assumptions5

#define	assumptions_flightmode

#define	assumptions_channelcount

#define	NEQ(a, b) (((int) (a)) != ((int) (b)))

#define	STACK_SIZE_BYTES 1200

#define	TASK_PRIORITY PIOS_THREAD_PRIO_HIGHEST

#define	UPDATE_PERIOD_MS 20

#define	HOME_ALTITUDE_OFFSET 15
	Private constants. More...

#define	FOLLOWME_RADIUS 20

#define	ARMED_THRESHOLD 0.50f

#define	CONNECTION_OFFSET 250

#define	RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12

#define	RCVR_ACTIVITY_MONITOR_MIN_RANGE 20

#define	THRUST_BIDIR_THRESH 0.35f

#define	MIN_MEANINGFUL_RANGE 40

#define	RECEIVER_TIMER_FIRED 0xffffffff

Enumerations
enum	control_status { STATUS_DISCONNECTED, STATUS_ERROR, STATUS_SAFETYTIMEOUT, STATUS_DISARM, STATUS_NORMAL, STATUS_TOGGLE_ARM, STATUS_ARM_INVALID, STATUS_ARM_VALID, STATUS_INVALID_FOR_DISARMED }

Functions
int32_t	failsafe_control_initialize ()
	Initialize the failsafe controller. More...

int32_t	failsafe_control_update ()
	Perform any updates to the failsafe controller. More...

int32_t	failsafe_control_select (bool reset_controller)
	Use failsafe mode. More...

int32_t	geofence_control_initialize ()
	Initialize the geofence controller. More...

int32_t	geofence_control_update ()
	Perform any updates to the geofence controller. More...

int32_t	geofence_control_select (bool reset_controller)
	Use geofence control mode. More...

bool	geofence_control_activate ()
	Query if out of bounds and the geofence controller should take over. More...

int32_t	tablet_control_initialize ()
	Initialize the tablet controller. More...

int32_t	tablet_control_update ()
	Process updates for the tablet controller. More...

int32_t	tablet_control_select (bool reset_controller)
	Use the values for the tablet controller. More...

	DONT_BUILD_IF (!(assumptions1), TransmitterControlAssumptions1)

	DONT_BUILD_IF (!(assumptions3), TransmitterControlAssumptions3)

	DONT_BUILD_IF (!(assumptions5), TransmitterControlAssumptions5)

	DONT_BUILD_IF (!(assumptions_flightmode), TransmitterControlAssumptions_fm)

	DONT_BUILD_IF (!(assumptions_channelcount), TransmitterControlAssumptions_cc)

	DONT_BUILD_IF (NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL, MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ROLL)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL, STABILIZATIONSETTINGS_MANUALRATE_ROLL)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL, STABILIZATIONSETTINGS_RATEEXPO_ROLL)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL, STABILIZATIONSETTINGS_HORIZONEXPO_ROLL)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL, STABILIZATIONSETTINGS_DEADBANDWIDTH_ROLL)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL, STABILIZATIONSETTINGS_DEADBANDSLOPE_ROLL), ROLLIndicesMismatch)

	DONT_BUILD_IF (NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH, MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_PITCH)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH, STABILIZATIONSETTINGS_MANUALRATE_PITCH)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH, STABILIZATIONSETTINGS_RATEEXPO_PITCH)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH, STABILIZATIONSETTINGS_HORIZONEXPO_PITCH)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH, STABILIZATIONSETTINGS_DEADBANDWIDTH_PITCH)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH, STABILIZATIONSETTINGS_DEADBANDSLOPE_PITCH), PITCHIndicesMismatch)

	DONT_BUILD_IF (NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_YAW, MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_YAW)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_YAW, STABILIZATIONSETTINGS_MANUALRATE_YAW)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_YAW, STABILIZATIONSETTINGS_RATEEXPO_YAW)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_YAW, STABILIZATIONSETTINGS_HORIZONEXPO_YAW)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_YAW, STABILIZATIONSETTINGS_DEADBANDWIDTH_YAW)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_YAW, STABILIZATIONSETTINGS_DEADBANDSLOPE_YAW), YAWIndicesMismatch)

int32_t	transmitter_control_initialize ()
	Initialize the transmitter control mode. More...

int32_t	transmitter_control_update ()
	Process inputs and arming. More...

int32_t	transmitter_control_select (bool reset_controller)
	Select and use transmitter control. More...

uint8_t	transmitter_control_get_flight_mode ()
	Query what the flight mode would be if this is selected. More...

enum control_status	transmitter_control_get_status ()
	Get any control events. More...

static void	manualControlTask (void *parameters)

static FlightStatusControlSourceOptions	control_source_select ()
	control_source_select Determine which sub-module to use for the main control source of the flight controller. More...

bool	ok_to_arm (void)
	Determine if the aircraft is safe to arm based on alarms. More...

int32_t	ManualControlStart ()

int32_t	ManualControlInitialize ()

	MODULE_HIPRI_INITCALL (ManualControlInitialize, ManualControlStart)

static int32_t	tabletInfo_to_ned (TabletInfoData tabletInfo, float NED)
	Private methods. More...

static float	get_thrust_source (ManualControlCommandData *manual_control_command, bool always_fullrange)

static void	update_stabilization_desired (ManualControlCommandData manual_control_command, ManualControlSettingsData settings)
	In stabilization mode, set stabilization desired. More...

static void	set_flight_mode ()
	Determine which of N positions the flight mode switch is in and set flight mode accordingly. More...

static void	process_transmitter_events (ManualControlCommandData cmd, ManualControlSettingsData settings, bool valid, bool settings_updated)
	Process the inputs and determine whether to arm or not. More...

static void	set_manual_control_error (SystemAlarmsManualControlOptions errorCode)

static float	scaleChannel (int n, int16_t value)

static bool	validInputRange (int n, uint16_t value, uint16_t offset)
	Determine if the manual input value is within acceptable limits. More...

static uint32_t	timeDifferenceMs (uint32_t start_time, uint32_t end_time)

static void	resetRcvrActivity (struct rcvr_activity_fsm *fsm)

static bool	updateRcvrActivity (struct rcvr_activity_fsm *fsm)

static void	set_loiter_command (ManualControlCommandData *cmd)

int	rssitype_to_channelgroup ()
	Convert a rssi type to the associated channel group. More...

static bool	is_low_throttle_for_arming (ManualControlCommandData *manual_control_command)

static bool	channel_is_configured (int channel_num)

static void	perform_tc_settings_update ()

static bool	arming_position (ManualControlCommandData cmd, ManualControlSettingsData settings, bool low_throt)

static bool	disarming_position (ManualControlCommandData cmd, ManualControlSettingsData settings, bool low_throt)

static bool	disarm_commanded (ManualControlCommandData cmd, ManualControlSettingsData settings, bool low_throt)

static void	reset_receiver_timer ()

static bool	check_receiver_timer (uint32_t threshold)

static void	updateRcvrActivitySample (uintptr_t rcvr_id, uint16_t samples[], uint8_t max_channels)

static bool	updateRcvrActivityCompare (uintptr_t rcvr_id, struct rcvr_activity_fsm *fsm)

static float	scale_stabilization (StabilizationSettingsData *stabSettings, float cmd, SharedDefsStabilizationModeOptions mode, StabilizationDesiredStabilizationModeElem axis)

Variables
static bool	armed_when_enabled

static bool	geofence_armed_when_enabled

static struct pios_thread *	taskHandle

bool	vehicle_is_armed = false

uintptr_t	pios_rcvr_group_map []

static ManualControlCommandData	cmd

static ManualControlSettingsData	settings

static uint8_t	disconnected_count = 0

static uint8_t	connected_count = 0

static struct rcvr_activity_fsm	activity_fsm

static uint32_t	lastActivityTime

static uint32_t	lastSysTime

static float	flight_mode_value

static enum control_status	control_status

static bool	settings_updated

static bool	thrust_is_bidir

static bool	collective_is_thrust

static uint32_t	receiver_timer = RECEIVER_TIMER_FIRED

Detailed Description

Highest level control module which decides the control state.

This module users the values from the transmitter and its settings to to determine if the system is currently controlled by failsafe, transmitter, or a tablet. The transmitter values are read out and stored in ManualControlCommand. The tablet sends values via TabletInfo which may be used if the flight mode switch is in the appropriate position. The transmitter settings come from ManualControlSettings.

Macro Definition Documentation

#define ARMED_THRESHOLD 0.50f

Definition at line 58 of file transmitter_control.c.

#define assumptions1

Value:

( \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_DISABLED      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_DISABLED)       && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_MANUAL      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL)       && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)       && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_AXISLOCK  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK)       && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING)       && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)      &&\
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_LQG  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_LQG)      &&\
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDELQG  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDELQG)      \
)

Definition at line 49 of file transmitter_control.h.

#define assumptions3

Value:

( \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_DISABLED      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_DISABLED)       && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_MANUAL      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL)       && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)      && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_AXISLOCK  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK)       && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING)       && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)     &&\
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_LQG  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_LQG)     &&\
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDELQG  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDELQG)     \
)

Definition at line 60 of file transmitter_control.h.

#define assumptions5

Value:

( \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_DISABLED      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_DISABLED)       && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_MANUAL      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL)       && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)      && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_AXISLOCK  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK)       && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING)       && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)     &&\
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_LQG  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_LQG)     &&\
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDELQG  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDELQG)     \
)

Definition at line 71 of file transmitter_control.h.

#define assumptions_channelcount

Value:

( \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNUMBER_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMIN_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMAX_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNEUTRAL_NUMELEM ) )

Definition at line 96 of file transmitter_control.h.

#define assumptions_flightmode

Value:

( \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ACRO == (int) FLIGHTSTATUS_FLIGHTMODE_ACRO) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_LEVELING == (int) FLIGHTSTATUS_FLIGHTMODE_LEVELING) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_HORIZON == (int) FLIGHTSTATUS_FLIGHTMODE_HORIZON) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AXISLOCK == (int) FLIGHTSTATUS_FLIGHTMODE_AXISLOCK) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VIRTUALBAR == (int) FLIGHTSTATUS_FLIGHTMODE_VIRTUALBAR) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_RETURNTOHOME == (int) FLIGHTSTATUS_FLIGHTMODE_RETURNTOHOME) \
)

Definition at line 82 of file transmitter_control.h.

#define CONNECTION_OFFSET 250

Definition at line 64 of file transmitter_control.c.

#define FOLLOWME_RADIUS 20

Definition at line 55 of file tablet_control.c.

#define HOME_ALTITUDE_OFFSET 15

Private constants.

Definition at line 54 of file tablet_control.c.

#define MIN_MEANINGFUL_RANGE 40

Definition at line 77 of file transmitter_control.c.

#define NEQ	(	a,
		b
	)	(((int) (a)) != ((int) (b)))

Definition at line 109 of file transmitter_control.h.

#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12

Definition at line 66 of file transmitter_control.c.

#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 20

Definition at line 67 of file transmitter_control.c.

#define RECEIVER_TIMER_FIRED 0xffffffff

Definition at line 700 of file transmitter_control.c.

#define STACK_SIZE_BYTES 1200

Definition at line 58 of file manualcontrol.c.

#define TASK_PRIORITY PIOS_THREAD_PRIO_HIGHEST

Definition at line 61 of file manualcontrol.c.

#define THRUST_BIDIR_THRESH 0.35f

Definition at line 71 of file transmitter_control.c.

#define UPDATE_PERIOD_MS 20

Definition at line 62 of file manualcontrol.c.

Enumeration Type Documentation

enum control_status

Enumerator
STATUS_DISCONNECTED	RX is disconnected.
STATUS_ERROR	Something is fundamentally wrong.
STATUS_SAFETYTIMEOUT	Disconnected timeout has occurred.
STATUS_DISARM	User requested disarm, or low throt timeout.
STATUS_NORMAL	Things are "normal".
STATUS_TOGGLE_ARM	For corners. Request we be the "opposite" mode.
STATUS_ARM_INVALID	User requested arm, controls in invalid pos.
STATUS_ARM_VALID	User requested arm, controls in valid pos.
STATUS_INVALID_FOR_DISARMED	Arming switch is in a state that doesn't.

Definition at line 33 of file control.h.

Function Documentation

static bool arming_position	(	ManualControlCommandData *	cmd,
		ManualControlSettingsData *	settings,
		bool	low_throt
	)

static

Check sticks to determine if they are in the arming position

Definition at line 606 of file transmitter_control.c.

static bool channel_is_configured ( int channel_num )

static

Definition at line 217 of file transmitter_control.c.

static bool check_receiver_timer ( uint32_t threshold )

static

Definition at line 708 of file transmitter_control.c.

static FlightStatusControlSourceOptions control_source_select ( )

static

control_source_select Determine which sub-module to use for the main control source of the flight controller.

Returns: FlightStatusControlSourceOptions indicating the selected mode

This function is the ultimate one that controls what happens and selects modes such as failsafe, transmitter control, geofencing and potentially other high level modes in the future

Definition at line 353 of file manualcontrol.c.

static bool disarm_commanded	(	ManualControlCommandData *	cmd,
		ManualControlSettingsData *	settings,
		bool	low_throt
	)

static

Definition at line 669 of file transmitter_control.c.

static bool disarming_position	(	ManualControlCommandData *	cmd,
		ManualControlSettingsData *	settings,
		bool	low_throt
	)

static

Check sticks to determine if they are in the disarmed position

Definition at line 642 of file transmitter_control.c.

DONT_BUILD_IF	(	!	assumptions1,
		TransmitterControlAssumptions1
	)

DONT_BUILD_IF	(	!	assumptions3,
		TransmitterControlAssumptions3
	)

DONT_BUILD_IF	(	!	assumptions5,
		TransmitterControlAssumptions5
	)

DONT_BUILD_IF	(	!	assumptions_flightmode,
		TransmitterControlAssumptions_fm
	)

DONT_BUILD_IF	(	!	assumptions_channelcount,
		TransmitterControlAssumptions_cc
	)

DONT_BUILD_IF	(	NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL, MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ROLL)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL, STABILIZATIONSETTINGS_MANUALRATE_ROLL)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL, STABILIZATIONSETTINGS_RATEEXPO_ROLL)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL, STABILIZATIONSETTINGS_HORIZONEXPO_ROLL)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL, STABILIZATIONSETTINGS_DEADBANDWIDTH_ROLL)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL, STABILIZATIONSETTINGS_DEADBANDSLOPE_ROLL)	,
		ROLLIndicesMismatch
	)

DONT_BUILD_IF	(	NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH, MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_PITCH)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH, STABILIZATIONSETTINGS_MANUALRATE_PITCH)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH, STABILIZATIONSETTINGS_RATEEXPO_PITCH)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH, STABILIZATIONSETTINGS_HORIZONEXPO_PITCH)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH, STABILIZATIONSETTINGS_DEADBANDWIDTH_PITCH)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH, STABILIZATIONSETTINGS_DEADBANDSLOPE_PITCH)	,
		PITCHIndicesMismatch
	)

DONT_BUILD_IF	(	NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_YAW, MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_YAW)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_YAW, STABILIZATIONSETTINGS_MANUALRATE_YAW)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_YAW, STABILIZATIONSETTINGS_RATEEXPO_YAW)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_YAW, STABILIZATIONSETTINGS_HORIZONEXPO_YAW)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_YAW, STABILIZATIONSETTINGS_DEADBANDWIDTH_YAW)\|\|NEQ(STABILIZATIONDESIRED_STABILIZATIONMODE_YAW, STABILIZATIONSETTINGS_DEADBANDSLOPE_YAW)	,
		YAWIndicesMismatch
	)

int32_t failsafe_control_initialize ( )

Initialize the failsafe controller.

Definition at line 45 of file failsafe_control.c.

int32_t failsafe_control_select ( bool reset_controller )

Use failsafe mode.

Select and use failsafe control

Parameters

[in] reset_controller True if previously another controller was used

Definition at line 61 of file failsafe_control.c.

int32_t failsafe_control_update ( )

Perform any updates to the failsafe controller.

Definition at line 51 of file failsafe_control.c.

bool geofence_control_activate ( )

Query if out of bounds and the geofence controller should take over.

Definition at line 108 of file geofence_control.c.

int32_t geofence_control_initialize ( )

Initialize the geofence controller.

Definition at line 47 of file geofence_control.c.

int32_t geofence_control_select ( bool reset_controller )

Use geofence control mode.

Definition at line 61 of file geofence_control.c.

int32_t geofence_control_update ( )

Perform any updates to the geofence controller.

Definition at line 53 of file geofence_control.c.

static float get_thrust_source	(	ManualControlCommandData *	manual_control_command,
		bool	always_fullrange
	)

static

Definition at line 167 of file transmitter_control.c.

static bool is_low_throttle_for_arming ( ManualControlCommandData * manual_control_command )

static

Definition at line 201 of file transmitter_control.c.

int32_t ManualControlInitialize ( )

Module initialization

Definition at line 94 of file manualcontrol.c.

int32_t ManualControlStart ( )

Module starting

Definition at line 79 of file manualcontrol.c.

static void manualControlTask ( void * parameters )

static

Module task

Todo:: could consider having a maximum time before we go to safety

Definition at line 112 of file manualcontrol.c.

MODULE_HIPRI_INITCALL	(	ManualControlInitialize	,
		ManualControlStart
	)

bool ok_to_arm ( void )

Determine if the aircraft is safe to arm based on alarms.

Returns: True if safe to arm, false otherwise

Definition at line 379 of file manualcontrol.c.

static void perform_tc_settings_update ( )

static

Definition at line 232 of file transmitter_control.c.

static void process_transmitter_events	(	ManualControlCommandData *	cmd,
		ManualControlSettingsData *	settings,
		bool	valid,
		bool	settings_updated
	)

static

Process the inputs and determine whether to arm or not.

Parameters

[in]	cmd	The manual control inputs
[in]	settings	Settings indicating the necessary position
[in]	scaled	The scaled channels, used for checking arming
[in]	valid	If the input data is valid (i.e. transmitter is transmitting)
[in]	settings_updated	True if settings changed this cycle

Definition at line 746 of file transmitter_control.c.

static void reset_receiver_timer ( )

static

Definition at line 704 of file transmitter_control.c.

static void resetRcvrActivity ( struct rcvr_activity_fsm * fsm )

static

Definition at line 879 of file transmitter_control.c.

int rssitype_to_channelgroup ( )

Convert a rssi type to the associated channel group.

Definition at line 120 of file transmitter_control.c.

static float scale_stabilization	(	StabilizationSettingsData *	stabSettings,
		float	cmd,
		SharedDefsStabilizationModeOptions	mode,
		StabilizationDesiredStabilizationModeElem	axis
	)

inlinestatic

Definition at line 1015 of file transmitter_control.c.

static float scaleChannel	(	int	n,
		int16_t	value
	)

static

Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range.

Definition at line 1243 of file transmitter_control.c.

static void set_flight_mode ( )

static

Determine which of N positions the flight mode switch is in and set flight mode accordingly.

Definition at line 865 of file transmitter_control.c.

static void set_loiter_command ( ManualControlCommandData * cmd )

static

Definition at line 1226 of file transmitter_control.c.

static void set_manual_control_error ( SystemAlarmsManualControlOptions error_code )

static

Set the error code and alarm state

Parameters

[in] error code

Definition at line 1330 of file transmitter_control.c.

int32_t tablet_control_initialize ( )

Initialize the tablet controller.

Definition at line 58 of file tablet_control.c.

int32_t tablet_control_select ( bool reset_controller )

Use the values for the tablet controller.

Select and use tablet control

Parameters

[in] reset_controller True if previously another controller was used

Todo:: unsafe!

Definition at line 79 of file tablet_control.c.

int32_t tablet_control_update ( )

Process updates for the tablet controller.

Definition at line 67 of file tablet_control.c.

static int32_t tabletInfo_to_ned	(	TabletInfoData *	tabletInfo,
		float *	NED
	)

static

Private methods.

Convert the tablet information (in LLA * 10e6) to NED reference frame

Parameters

[in]	tabletInfo	The information from the tablet
[out]	NED	Computed NED values

Definition at line 196 of file tablet_control.c.

static uint32_t timeDifferenceMs	(	uint32_t	start_time,
		uint32_t	end_time
	)

static

Definition at line 1276 of file transmitter_control.c.

uint8_t transmitter_control_get_flight_mode ( )

Query what the flight mode would be if this is selected.

Determine which of N positions the flight mode switch is in but do not set it.

Definition at line 593 of file transmitter_control.c.

enum control_status transmitter_control_get_status ( )

Get any control events.

Get the control & arming status.

Definition at line 587 of file transmitter_control.c.

int32_t transmitter_control_initialize ( )

Initialize the transmitter control mode.

Definition at line 140 of file transmitter_control.c.

int32_t transmitter_control_select ( bool reset_controller )

Select and use transmitter control.

Select and use transmitter control

Parameters

[in] reset_controller True if previously another controller was used

Definition at line 540 of file transmitter_control.c.

int32_t transmitter_control_update ( )

Process inputs and arming.

This will always process the arming signals as for now the transmitter is always in charge. When a transmitter is not detected control will fall back to the failsafe module. If the flight mode is in tablet control position then control will be ceeded to that module.

Todo:: Factor more of the valid-configuration checks up here, so they don't need to be performed each time. Also do additonal validation .. e.g. a mostly-negative throttle range doesn't make sense!

Definition at line 268 of file transmitter_control.c.

static void update_stabilization_desired	(	ManualControlCommandData *	manual_control_command,
		ManualControlSettingsData *	settings
	)

static

In stabilization mode, set stabilization desired.

Definition at line 1056 of file transmitter_control.c.

static bool updateRcvrActivity ( struct rcvr_activity_fsm * fsm )

static

Definition at line 963 of file transmitter_control.c.

static bool updateRcvrActivityCompare	(	uintptr_t	rcvr_id,
		struct rcvr_activity_fsm *	fsm
	)

static

Definition at line 908 of file transmitter_control.c.

static void updateRcvrActivitySample	(	uintptr_t	rcvr_id,
		uint16_t	samples[],
		uint8_t	max_channels
	)

static

Definition at line 901 of file transmitter_control.c.

bool validInputRange	(	int	n,
		uint16_t	value,
		uint16_t	offset
	)

static

Determine if the manual input value is within acceptable limits.

Returns: return TRUE if so, otherwise return FALSE

Definition at line 1287 of file transmitter_control.c.

Variable Documentation

struct rcvr_activity_fsm activity_fsm

static

Definition at line 93 of file transmitter_control.c.

bool armed_when_enabled

static

Definition at line 56 of file failsafe_control.c.

ManualControlCommandData cmd

static

Definition at line 88 of file transmitter_control.c.

bool collective_is_thrust

static

Definition at line 100 of file transmitter_control.c.

uint8_t connected_count = 0

static

Definition at line 92 of file transmitter_control.c.

enum control_status control_status

static

Definition at line 97 of file transmitter_control.c.

uint8_t disconnected_count = 0

static

Definition at line 91 of file transmitter_control.c.

float flight_mode_value

static

Definition at line 96 of file transmitter_control.c.

bool geofence_armed_when_enabled

static

Definition at line 58 of file geofence_control.c.

uint32_t lastActivityTime

static

Definition at line 94 of file transmitter_control.c.

uint32_t lastSysTime

static

Definition at line 95 of file transmitter_control.c.

uintptr_t pios_rcvr_group_map[]

Definition at line 73 of file pios_hal.c.

uint32_t receiver_timer = RECEIVER_TIMER_FIRED

static

Definition at line 702 of file transmitter_control.c.

ManualControlSettingsData settings

static

Definition at line 89 of file transmitter_control.c.

bool settings_updated

static

Definition at line 98 of file transmitter_control.c.

struct pios_thread* taskHandle

static

Definition at line 65 of file manualcontrol.c.

bool thrust_is_bidir

static

Definition at line 99 of file transmitter_control.c.

bool vehicle_is_armed = false

Definition at line 71 of file manualcontrol.c.

Files

Data Structures

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation