Structures relating to loadable extensions. More...

Modules
	Constants

	math support libraries

	Protocol Library
	Deals with packing/unpacking and MSP streams.

Files
file	alarms.c
	Library for setting and clearing system alarms.

file	alarms.h
	Include file of the alarm library.

file	insgps.h
	Include file of the INSGPS exposed functionality.

file	paths.h
	Path calculation library with common API.

file	sanitycheck.h
	Utilities to validate a flight configuration.

file	timeutils.h
	Time conversion functions.

file	WMMInternal.h
	Include file of the WorldMagModel internal functionality.

file	WorldMagModel.h
	Source file for the World Magnetic Model.

file	paths.c
	Path calculation library with common API.

file	sanitycheck.c
	Utilities to validate a flight configuration.

file	timeutils.c
	Time conversion functions.

file	WorldMagModel.c
	Source file for the World Magnetic Model This is a port of code available from the US NOAA.

file	taskmonitor.h
	Task monitoring library.

file	taskmonitor.h
	Task monitoring library.

Data Structures
struct	loadable_extension

struct	path_status

struct	__attribute__

struct	WMMtype_MagneticModel

struct	WMMtype_Ellipsoid

struct	WMMtype_CoordGeodetic

struct	WMMtype_CoordSpherical

struct	WMMtype_Date

struct	WMMtype_LegendreFunction

struct	WMMtype_MagneticResults

struct	WMMtype_SphericalHarmonicVariables

struct	WMMtype_GeoMagneticElements

Macros
#define	LONGEST_MESSAGE 17

#define	SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED

#define	DECLARE_LOADABLE_EXTENSION(ent_func)

#define	TRUE ((uint16_t)1)

#define	FALSE ((uint16_t)0)

#define	WMM_MAX_MODEL_DEGREES 12

#define	WMM_MAX_SECULAR_VARIATION_MODEL_DEGREES 12

#define	NUMTERMS 91

#define	NUMPCUP 92

#define	NUMPCUPS 13

#define	__isleap(year) ((year) % 4 == 0 && ((year) % 100 != 0 \|\| (year) % 400 == 0))

#define	SECS_PER_HOUR (60 * 60)

#define	SECS_PER_DAY (SECS_PER_HOUR * 24)

#define	NUMX 13

#define	NUMW 9

#define	NUMV 10

#define	NUMU 6

Functions
static int32_t	hasSeverity (SystemAlarmsAlarmOptions severity)

int32_t	AlarmsInitialize (void)

int32_t	AlarmsSet (SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)

SystemAlarmsAlarmOptions	AlarmsGet (SystemAlarmsAlarmElem alarm)

int32_t	AlarmsDefault (SystemAlarmsAlarmElem alarm)

void	AlarmsDefaultAll ()

int32_t	AlarmsClear (SystemAlarmsAlarmElem alarm)

void	AlarmsClearAll ()

int32_t	AlarmsHasWarnings ()

int32_t	AlarmsHasErrors ()

int32_t	AlarmsHasCritical ()

	DONT_BUILD_IF (NELEMENTS(alarm_names)!=SYSTEMALARMS_ALARM_NUMELEM, AlarmArrayMismatch)

int32_t	AlarmString (SystemAlarmsData alarm, char buf, size_t buflen, bool blink, uint8_t *state)

const char *	AlarmBootReason (uint8_t reason)

void	INSGPSInit ()
	Reset the internal state variables and variances. More...

void	INSStatePrediction (const float gyro_data[3], const float accel_data[3], float dT)
	Compute an update of the state estimate. More...

void	INSCovariancePrediction (float dT)
	Compute an update of the state covariance. More...

void	INSCorrection (const float mag_data[3], const float Pos[3], const float Vel[3], float BaroAlt, uint16_t SensorsUsed)
	Correct the state and covariance estimate based on the sensors that were updated. More...

void	INSSetArmed (bool armed)
	Set the current flight state. More...

void	INSResetP (const float *PDiag)

void	INSSetState (const float pos[3], const float vel[3], const float q[4], const float gyro_bias[3], const float accel_bias[3])

void	INSSetPosVelVar (float PosVar, float VelVar, float VertPosVar)

void	INSSetGyroBias (const float gyro_bias[3])

void	INSSetAccelBias (const float gyro_bias[3])

void	INSSetAccelVar (const float accel_var[3])

void	INSSetGyroVar (const float gyro_var[3])

void	INSSetMagNorth (const float B[3])

void	INSSetMagVar (const float scaled_mag_var[3])

void	INSSetBaroVar (float baro_var)

void	INSPosVelReset (const float pos[3], const float vel[3])

uint16_t	ins_get_num_states ()

void	path_progress (const PathDesiredData pathDesired, const float cur_point, struct path_status *status)
	Compute progress along path and deviation from it. More...

int32_t	configuration_check ()

void	set_config_error (SystemAlarmsConfigErrorOptions error_code)

void	date_from_timestamp (uint32_t timestamp, DateTimeT *date_time)

void	WMM_Set_Coeff_Array ()

int	WMM_GeodeticToSpherical (WMMtype_CoordGeodetic CoordGeodetic, WMMtype_CoordSpherical CoordSpherical)

int	WMM_DateToYear (uint16_t month, uint16_t day, uint16_t year)

int	WMM_Geomag (WMMtype_CoordSpherical CoordSpherical, WMMtype_CoordGeodetic CoordGeodetic, WMMtype_GeoMagneticElements *GeoMagneticElements)

int	WMM_AssociatedLegendreFunction (WMMtype_CoordSpherical CoordSpherical, uint16_t nMax, WMMtype_LegendreFunction LegendreFunction)

int	WMM_CalculateGeoMagneticElements (WMMtype_MagneticResults MagneticResultsGeo, WMMtype_GeoMagneticElements GeoMagneticElements)

int	WMM_CalculateSecularVariation (WMMtype_MagneticResults MagneticVariation, WMMtype_GeoMagneticElements MagneticElements)

int	WMM_ComputeSphericalHarmonicVariables (WMMtype_CoordSpherical CoordSpherical, uint16_t nMax, WMMtype_SphericalHarmonicVariables SphVariables)

int	WMM_PcupLow (float Pcup, float dPcup, float x, uint16_t nMax)

int	WMM_PcupHigh (float Pcup, float dPcup, float x, uint16_t nMax)

int	WMM_RotateMagneticVector (WMMtype_CoordSpherical , WMMtype_CoordGeodetic CoordGeodetic, WMMtype_MagneticResults MagneticResultsSph, WMMtype_MagneticResults MagneticResultsGeo)

int	WMM_SecVarSummation (WMMtype_LegendreFunction LegendreFunction, WMMtype_SphericalHarmonicVariables SphVariables, WMMtype_CoordSpherical CoordSpherical, WMMtype_MagneticResults MagneticResults)

int	WMM_SecVarSummationSpecial (WMMtype_SphericalHarmonicVariables SphVariables, WMMtype_CoordSpherical CoordSpherical, WMMtype_MagneticResults *MagneticResults)

int	WMM_Summation (WMMtype_LegendreFunction LegendreFunction, WMMtype_SphericalHarmonicVariables SphVariables, WMMtype_CoordSpherical CoordSpherical, WMMtype_MagneticResults MagneticResults)

int	WMM_SummationSpecial (WMMtype_SphericalHarmonicVariables SphVariables, WMMtype_CoordSpherical CoordSpherical, WMMtype_MagneticResults *MagneticResults)

float	WMM_get_main_field_coeff_g (uint16_t index)
	Comput the MainFieldCoeffH accounting for the date. More...

float	WMM_get_main_field_coeff_h (uint16_t index)

float	WMM_get_secular_var_coeff_g (uint16_t index)

float	WMM_get_secular_var_coeff_h (uint16_t index)

int	WMM_Initialize ()

int	WMM_GetMagVector (float Lat, float Lon, float AltEllipsoid, uint16_t Month, uint16_t Day, uint16_t Year, float B[3])

static void	path_endpoint (const float start_point, const float end_point, const float cur_point, struct path_status status)
	Compute progress towards endpoint. Deviation equals distance. More...

static void	path_vector (const float start_point, const float end_point, const float cur_point, struct path_status status)
	Compute progress along path and deviation from it. More...

static void	path_circle (const float center_point, float radius, const float cur_point, struct path_status *status, bool clockwise)
	Circle location continuously. More...

static void	path_curve (const float start_point, const float end_point, float radius, const float cur_point, struct path_status status, bool clockwise)
	Compute progress along circular path and deviation from it. More...

static int32_t	check_safe_to_arm ()
	Check it is safe to arm in this position. More...

static int32_t	check_stabilization_settings (int index, bool multirotor)
	Check a stabilization mode switch position for safety. More...

static int32_t	check_stabilization_rates ()
	Check a stabilization mode switch position for safety. More...

static int32_t	check_safe_autonomous ()
	Check the system is safe for autonomous flight. More...

bool	lqg_sysident_check ()

	DONT_BUILD_IF (MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM!=MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NUMELEM, StabSettingsNumElem)

	DONT_BUILD_IF (MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM!=MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NUMELEM, StabSettingsNumElem2)

static void	CovariancePrediction (float F[NUMX][NUMX], float G[NUMX][NUMW], float Q[NUMW], float dT, float P[NUMX][NUMX])

static void	SerialUpdate (float H[NUMV][NUMX], float R[NUMV], float Z[NUMV], float Y[NUMV], float P[NUMX][NUMX], float X[NUMX], uint16_t SensorsUsed)

static void	RungeKutta (float X[NUMX], float U[NUMU], float dT)

static void	StateEq (float X[NUMX], float U[NUMU], float Xdot[NUMX])

static void	LinearizeFG (float X[NUMX], float U[NUMU], float F[NUMX][NUMX], float G[NUMX][NUMW])

static void	MeasurementEq (float X[NUMX], float Be[3], float Y[NUMV])

static void	LinearizeH (float X[NUMX], float Be[3], float H[NUMV][NUMX])

	DONT_BUILD_IF (TASKINFO_RUNNING_NUMELEM!=TASKINFO_STACKREMAINING_NUMELEM, taskelems1)

	DONT_BUILD_IF (TASKINFO_RUNNING_NUMELEM!=TASKINFO_RUNNINGTIME_NUMELEM, taskelems2)

int32_t	TaskMonitorInitialize (void)

int32_t	TaskMonitorAdd (TaskInfoRunningElem task, struct pios_thread *threadp)

int32_t	TaskMonitorRemove (TaskInfoRunningElem task)

bool	TaskMonitorQueryRunning (TaskInfoRunningElem task)

void	TaskMonitorUpdateAll (void)

Variables
static struct pios_mutex *	lock

static const char	alarm_names [][10]

static const char	config_error_names [][15]

static const char	manual_control_names [][13]

static const char	boot_reason_names [][16]

uint8_t	__attribute__::sec

uint8_t	__attribute__::min

uint8_t	__attribute__::hour

uint8_t	__attribute__::mday

uint8_t	__attribute__::mon

uint8_t	__attribute__::wday

uint8_t	__attribute__::year

static const uint16_t	__mon_yday [2][13]

static float	F [NUMX][NUMX]

static float	G [NUMX][NUMW]

static float	H [NUMV][NUMX]

static float	Be [3]

static float	P [NUMX][NUMX]

static float	X [NUMX]

static float	Q [NUMW]

static float	R [NUMV]

static float	K [NUMX][NUMV]

static const float	CoeffFile [91][6] = COEFFS_FROM_NASA

static WMMtype_Ellipsoid	Ellip

static WMMtype_MagneticModel	MagneticModel

static float	decimal_date

static struct pios_mutex *	lock

static struct pios_thread *	handles [TASKINFO_RUNNING_NUMELEM]

static uint32_t	lastMonitorTime

Detailed Description

Structures relating to loadable extensions.

Macro Definition Documentation

#define __isleap ( year ) ((year) % 4 == 0 && ((year) % 100 != 0 || (year) % 400 == 0))

Definition at line 33 of file timeutils.c.

#define DECLARE_LOADABLE_EXTENSION ( ent_func )

Value:

extern char _sidata; \
extern char _eidata; \
 \
extern char _copylen; \
extern char _gotlen; \
extern char _ramlen; \
 \
const struct loadable_extension lext __attribute__((section (".extension_header"))) = { \
        .magic = LOADABLE_EXTENSION_MAGIC, \
        .length = (uint32_t) &_eidata, \
        .require_version = LOADABLE_REQUIRE_VERSION_WIRED, \
        .entry_offset = (uint32_t) ent_func, \
        .ram_seg_copyoff = (uint32_t) &_sidata, \
        /* These next & opers are lies, because they're lengths, not offsets */ \
        .ram_seg_len = (uint32_t) &_ramlen, \
        .ram_seg_copylen = (uint32_t) &_copylen, \
        .ram_seg_gotlen = (uint32_t) &_gotlen, \
}

Definition at line 63 of file loadable_extension.h.

#define FALSE ((uint16_t)0)

Definition at line 37 of file WMMInternal.h.

#define LONGEST_MESSAGE 17

Definition at line 316 of file alarms.c.

#define NUMPCUP 92

Definition at line 42 of file WMMInternal.h.

#define NUMPCUPS 13

Definition at line 43 of file WMMInternal.h.

#define NUMTERMS 91

Definition at line 41 of file WMMInternal.h.

#define NUMU 6

Definition at line 38 of file insgps13state.c.

#define NUMV 10

Definition at line 37 of file insgps13state.c.

#define NUMW 9

Definition at line 36 of file insgps13state.c.

#define NUMX 13

Definition at line 35 of file insgps13state.c.

#define SECS_PER_DAY (SECS_PER_HOUR * 24)

Definition at line 45 of file timeutils.c.

#define SECS_PER_HOUR (60 * 60)

Definition at line 44 of file timeutils.c.

#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED

Definition at line 31 of file alarms.h.

#define TRUE ((uint16_t)1)

Definition at line 34 of file WMMInternal.h.

#define WMM_MAX_MODEL_DEGREES 12

Definition at line 39 of file WMMInternal.h.

#define WMM_MAX_SECULAR_VARIATION_MODEL_DEGREES 12

Definition at line 40 of file WMMInternal.h.

Function Documentation

const char* AlarmBootReason ( uint8_t reason )

int32_t AlarmsClear ( SystemAlarmsAlarmElem alarm )

Clear an alarm

Parameters

alarm The system alarm to be modified

Returns: 0 if success, -1 if an error

Definition at line 171 of file alarms.c.

void AlarmsClearAll ( )

Clear all alarms

Definition at line 179 of file alarms.c.

int32_t AlarmsDefault ( SystemAlarmsAlarmElem alarm )

Set an alarm to it's default value

Parameters

alarm The system alarm to be modified

Returns: 0 if success, -1 if an error

Definition at line 149 of file alarms.c.

void AlarmsDefaultAll ( )

Default all alarms

Definition at line 157 of file alarms.c.

SystemAlarmsAlarmOptions AlarmsGet ( SystemAlarmsAlarmElem alarm )

Get an alarm

Parameters

alarm The system alarm to be read

Returns: Alarm severity

Definition at line 129 of file alarms.c.

int32_t AlarmsHasCritical ( )

Check if there are any alarms with critical or higher severity

Returns: 0 if no alarms are found, 1 if at least one alarm is found

Definition at line 210 of file alarms.c.

int32_t AlarmsHasErrors ( )

Check if there are any alarms with error or higher severity

Returns: 0 if no alarms are found, 1 if at least one alarm is found

Definition at line 201 of file alarms.c.

int32_t AlarmsHasWarnings ( )

Check if there are any alarms with the given or higher severity

Returns: 0 if no alarms are found, 1 if at least one alarm is found

Definition at line 192 of file alarms.c.

int32_t AlarmsInitialize ( void )

Initialize the alarms library

Definition at line 51 of file alarms.c.

int32_t AlarmsSet	(	SystemAlarmsAlarmElem	alarm,
		SystemAlarmsAlarmOptions	severity
	)

Set an alarm

Parameters

alarm	The system alarm to be modified
severity	The alarm severity

Returns: 0 if success, -1 if an error

Definition at line 97 of file alarms.c.

int32_t AlarmString	(	SystemAlarmsData *	alarm,
		char *	buf,
		size_t	buflen,
		bool	blink,
		uint8_t *	state
	)

Produce a string indicating what alarms are currently firing.

Parameters

alarm]	the current alarm state (from SystemAlarmsGet).
buf]	where the alarm string should be written.
buflen]	how many bytes may be safely written into buf.
blink]	if true, alarms are replaced with spaces.
state]	output variable indicating the most severe alarm found. The output variable 'state' is a value from the SystemAlarms alarm enum (e.g., SYSTEMALARMS_ALARM_WARNING).

Returns: The number of bytes written to the buffer.

static int32_t check_safe_autonomous ( )

static

Check the system is safe for autonomous flight.

If an autonomous mode is available, make sure all the configurations are valid for it

Definition at line 341 of file sanitycheck.c.

static int32_t check_safe_to_arm ( )

static

Check it is safe to arm in this position.

If the system is disarmed, look for a variety of conditions that make it unsafe to arm (that might not be dangerous to engage once flying).

Note this does not check every possible situation that prevents arming. In particular, transmitter_control checks for failsafe and ranges and switch arming configuration to allow/prevent arming.

Definition at line 293 of file sanitycheck.c.

static int32_t check_stabilization_rates ( )

static

Check a stabilization mode switch position for safety.

Check the rates achieved via stabilization are ones that can be tracked by the gyros as configured.

Returns: error code if not

Definition at line 370 of file sanitycheck.c.

static int32_t check_stabilization_settings	(	int	index,
		bool	multirotor
	)

static

Check a stabilization mode switch position for safety.

Checks the stabiliation settings for a paritcular mode and makes sure it is appropriate for the airframe

Parameters

[in] index Which stabilization mode to check

Returns: SYSTEMALARMS_CONFIGERROR_NONE or SYSTEMALARMS_CONFIGERROR_MULTIROTOR

Definition at line 210 of file sanitycheck.c.

int32_t configuration_check ( )

Run a preflight check over the hardware configuration and currently active modules

Definition at line 84 of file sanitycheck.c.

static void CovariancePrediction	(	float	F[NUMX][NUMX],
		float	G[NUMX][NUMW],
		float	Q[NUMW],
		float	dT,
		float	P[NUMX][NUMX]
	)

static

Definition at line 402 of file insgps13state.c.

void date_from_timestamp	(	uint32_t	timestamp,
		DateTimeT *	date_time
	)

Convert UNIX timestamp to date/time Based on code from GNU C Library

Definition at line 51 of file timeutils.c.

DONT_BUILD_IF	(	TASKINFO_RUNNING_NUMELEM!	= `TASKINFO_STACKREMAINING_NUMELEM`,
		taskelems1
	)

DONT_BUILD_IF	(	TASKINFO_RUNNING_NUMELEM!	= `TASKINFO_RUNNINGTIME_NUMELEM`,
		taskelems2
	)

DONT_BUILD_IF	(	MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM!	= `MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NUMELEM`,
		StabSettingsNumElem
	)

DONT_BUILD_IF	(	MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM!	= `MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NUMELEM`,
		StabSettingsNumElem2
	)

DONT_BUILD_IF	(	NELEMENTS(alarm_names)!	= `SYSTEMALARMS_ALARM_NUMELEM`,
		AlarmArrayMismatch
	)

static int32_t hasSeverity ( SystemAlarmsAlarmOptions severity )

static

Check if there are any alarms with the given or higher severity

Returns: 0 if no alarms are found, 1 if at least one alarm is found

Definition at line 219 of file alarms.c.

uint16_t ins_get_num_states ( )

Definition at line 69 of file insgps13state.c.

void INSCorrection	(	const float	mag_data[3],
		const float	Pos[3],
		const float	Vel[3],
		float	BaroAlt,
		uint16_t	SensorsUsed
	)

Correct the state and covariance estimate based on the sensors that were updated.

Definition at line 325 of file insgps13state.c.

void INSCovariancePrediction ( float dT )

Compute an update of the state covariance.

Definition at line 320 of file insgps13state.c.

void INSGPSInit ( )

Reset the internal state variables and variances.

Main interface for running the filter

Definition at line 74 of file insgps13state.c.

void INSPosVelReset	(	const float	pos[3],
		const float	vel[3]
	)

Definition at line 220 of file insgps13state.c.

void INSResetP ( const float * PDiag )

These methods alter the behavior of the filter

Definition at line 188 of file insgps13state.c.

void INSSetAccelBias ( const float gyro_bias[3] )

Definition at line 257 of file insgps13state.c.

void INSSetAccelVar ( const float accel_var[3] )

Definition at line 262 of file insgps13state.c.

void INSSetArmed ( bool armed )

Set the current flight state.

Definition at line 126 of file insgps13state.c.

void INSSetBaroVar ( float baro_var )

Definition at line 283 of file insgps13state.c.

void INSSetGyroBias ( const float gyro_bias[3] )

Definition at line 250 of file insgps13state.c.

void INSSetGyroVar ( const float gyro_var[3] )

Definition at line 269 of file insgps13state.c.

void INSSetMagNorth ( const float B[3] )

Definition at line 288 of file insgps13state.c.

void INSSetMagVar ( const float scaled_mag_var[3] )

Definition at line 276 of file insgps13state.c.

void INSSetPosVelVar	(	float	PosVar,
		float	VelVar,
		float	VertPosVar
	)

Definition at line 240 of file insgps13state.c.

void INSSetState	(	const float	pos[3],
		const float	vel[3],
		const float	q[4],
		const float	gyro_bias[3],
		const float	accel_bias[3]
	)

Definition at line 202 of file insgps13state.c.

void INSStatePrediction	(	const float	gyro_data[3],
		const float	accel_data[3],
		float	dT
	)

Compute an update of the state estimate.

Definition at line 295 of file insgps13state.c.

static void LinearizeFG	(	float	X[NUMX],
		float	U[NUMU],
		float	F[NUMX][NUMX],
		float	G[NUMX][NUMW]
	)

static

Definition at line 1490 of file insgps13state.c.

static void LinearizeH	(	float	X[NUMX],
		float	Be[3],
		float	H[NUMV][NUMX]
	)

static

Definition at line 1622 of file insgps13state.c.

bool lqg_sysident_check ( )

Definition at line 65 of file sanitycheck.c.

static void MeasurementEq	(	float	X[NUMX],
		float	Be[3],
		float	Y[NUMV]
	)

static

Definition at line 1587 of file insgps13state.c.

static void path_circle	(	const float *	center_point,
		float	radius,
		const float *	cur_point,
		struct path_status *	status,
		bool	clockwise
	)

static

Circle location continuously.

Parameters

[in]	start_point	Starting point
[in]	end_point	Center point
[in]	cur_point	Current location
[out]	status	Structure containing progress along path and deviation

Definition at line 203 of file paths.c.

static void path_curve	(	const float *	start_point,
		const float *	end_point,
		float	radius,
		const float *	cur_point,
		struct path_status *	status,
		bool	clockwise
	)

static

Compute progress along circular path and deviation from it.

Parameters

[in]	start_point	Starting point
[in]	end_point	Ending point
[in]	radius	Radius of the curve segment
[in]	cur_point	Current location
[out]	status	Structure containing progress along path and deviation

Definition at line 268 of file paths.c.

static void path_endpoint	(	const float *	start_point,
		const float *	end_point,
		const float *	cur_point,
		struct path_status *	status
	)

static

Compute progress towards endpoint. Deviation equals distance.

Parameters

[in]	start_point	Starting point
[in]	end_point	Ending point
[in]	cur_point	Current location
[out]	status	Structure containing progress along path and deviation

Definition at line 102 of file paths.c.

void path_progress	(	const PathDesiredData *	pathDesired,
		const float *	cur_point,
		struct path_status *	status
	)

Compute progress along path and deviation from it.

Parameters

[in]	start_point	Starting point
[in]	end_point	Ending point
[in]	cur_point	Current location
[in]	mode	Path following mode
[out]	status	Structure containing progress along path and deviation

Definition at line 62 of file paths.c.

static void path_vector	(	const float *	start_point,
		const float *	end_point,
		const float *	cur_point,
		struct path_status *	status
	)

static

Compute progress along path and deviation from it.

Parameters

[in]	start_point	Starting point
[in]	end_point	Ending point
[in]	cur_point	Current location
[out]	status	Structure containing progress along path and deviation

Definition at line 146 of file paths.c.

static void RungeKutta	(	float	X[NUMX],
		float	U[NUMU],
		float	dT
	)

static

Definition at line 1398 of file insgps13state.c.

static void SerialUpdate	(	float	H[NUMV][NUMX],
		float	R[NUMV],
		float	Z[NUMV],
		float	Y[NUMV],
		float	P[NUMX][NUMX],
		float	X[NUMX],
		uint16_t	SensorsUsed
	)

static

Definition at line 1354 of file insgps13state.c.

void set_config_error ( SystemAlarmsConfigErrorOptions error_code )

Set the error code and alarm state

Parameters

[in] error code

Definition at line 391 of file sanitycheck.c.

static void StateEq	(	float	X[NUMX],
		float	U[NUMU],
		float	Xdot[NUMX]
	)

static

Definition at line 1445 of file insgps13state.c.

int32_t TaskMonitorAdd	(	TaskInfoRunningElem	task,
		struct pios_thread *	threadp
	)

Register a task handle with the library

Definition at line 67 of file taskmonitor.c.

int32_t TaskMonitorInitialize ( void )

Initialize library

Definition at line 50 of file taskmonitor.c.

bool TaskMonitorQueryRunning ( TaskInfoRunningElem task )

Query if a task is running

Definition at line 105 of file taskmonitor.c.

int32_t TaskMonitorRemove ( TaskInfoRunningElem task )

Remove a task handle from the library

Definition at line 86 of file taskmonitor.c.

void TaskMonitorUpdateAll ( void )

Update the status of all tasks

Definition at line 116 of file taskmonitor.c.

int WMM_AssociatedLegendreFunction	(	WMMtype_CoordSpherical *	CoordSpherical,
		uint16_t	nMax,
		WMMtype_LegendreFunction *	LegendreFunction
	)

Definition at line 308 of file WorldMagModel.c.

int WMM_CalculateGeoMagneticElements	(	WMMtype_MagneticResults *	MagneticResultsGeo,
		WMMtype_GeoMagneticElements *	GeoMagneticElements
	)

Definition at line 551 of file WorldMagModel.c.

int WMM_CalculateSecularVariation	(	WMMtype_MagneticResults *	MagneticVariation,
		WMMtype_GeoMagneticElements *	MagneticElements
	)

Definition at line 581 of file WorldMagModel.c.

int WMM_ComputeSphericalHarmonicVariables	(	WMMtype_CoordSpherical *	CoordSpherical,
		uint16_t	nMax,
		WMMtype_SphericalHarmonicVariables *	SphVariables
	)

Definition at line 251 of file WorldMagModel.c.

int WMM_DateToYear	(	uint16_t	month,
		uint16_t	day,
		uint16_t	year
	)

Definition at line 1089 of file WorldMagModel.c.

int WMM_GeodeticToSpherical	(	WMMtype_CoordGeodetic *	CoordGeodetic,
		WMMtype_CoordSpherical *	CoordSpherical
	)

Definition at line 1119 of file WorldMagModel.c.

int WMM_Geomag	(	WMMtype_CoordSpherical *	CoordSpherical,
		WMMtype_CoordGeodetic *	CoordGeodetic,
		WMMtype_GeoMagneticElements *	GeoMagneticElements
	)

Definition at line 163 of file WorldMagModel.c.

float WMM_get_main_field_coeff_g ( uint16_t index )

Comput the MainFieldCoeffH accounting for the date.

Definition at line 1013 of file WorldMagModel.c.

float WMM_get_main_field_coeff_h ( uint16_t index )

Definition at line 1044 of file WorldMagModel.c.

float WMM_get_secular_var_coeff_g ( uint16_t index )

Definition at line 1073 of file WorldMagModel.c.

float WMM_get_secular_var_coeff_h ( uint16_t index )

Definition at line 1081 of file WorldMagModel.c.

int WMM_GetMagVector	(	float	Lat,
		float	Lon,
		float	AltEllipsoid,
		uint16_t	Month,
		uint16_t	Day,
		uint16_t	Year,
		float	B[3]
	)

Definition at line 98 of file WorldMagModel.c.

int WMM_Initialize ( )

Definition at line 75 of file WorldMagModel.c.

int WMM_PcupHigh	(	float *	Pcup,
		float *	dPcup,
		float	x,
		uint16_t	nMax
	)

Definition at line 618 of file WorldMagModel.c.

int WMM_PcupLow	(	float *	Pcup,
		float *	dPcup,
		float	x,
		uint16_t	nMax
	)

Definition at line 763 of file WorldMagModel.c.

int WMM_RotateMagneticVector	(	WMMtype_CoordSpherical *	CoordSpherical,
		WMMtype_CoordGeodetic *	CoordGeodetic,
		WMMtype_MagneticResults *	MagneticResultsSph,
		WMMtype_MagneticResults *	MagneticResultsGeo
	)

Definition at line 508 of file WorldMagModel.c.

int WMM_SecVarSummation	(	WMMtype_LegendreFunction *	LegendreFunction,
		WMMtype_SphericalHarmonicVariables *	SphVariables,
		WMMtype_CoordSpherical *	CoordSpherical,
		WMMtype_MagneticResults *	MagneticResults
	)

Definition at line 432 of file WorldMagModel.c.

int WMM_SecVarSummationSpecial	(	WMMtype_SphericalHarmonicVariables *	SphVariables,
		WMMtype_CoordSpherical *	CoordSpherical,
		WMMtype_MagneticResults *	MagneticResults
	)

Definition at line 950 of file WorldMagModel.c.

void WMM_Set_Coeff_Array ( )

int WMM_Summation	(	WMMtype_LegendreFunction *	LegendreFunction,
		WMMtype_SphericalHarmonicVariables *	SphVariables,
		WMMtype_CoordSpherical *	CoordSpherical,
		WMMtype_MagneticResults *	MagneticResults
	)

Definition at line 342 of file WorldMagModel.c.

int WMM_SummationSpecial	(	WMMtype_SphericalHarmonicVariables *	SphVariables,
		WMMtype_CoordSpherical *	CoordSpherical,
		WMMtype_MagneticResults *	MagneticResults
	)

Definition at line 884 of file WorldMagModel.c.

Variable Documentation

const uint16_t __mon_yday[2][13]

static

Initial value:

= {
        
        {0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365},
        
        {0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366}
}

Definition at line 37 of file timeutils.c.

const char alarm_names[][10]

static

Initial value:

= {
        [SYSTEMALARMS_ALARM_OUTOFMEMORY] = "MEMORY",
        [SYSTEMALARMS_ALARM_CPUOVERLOAD] = "CPU",
        [SYSTEMALARMS_ALARM_STACKOVERFLOW] = "STACK",
        [SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION] = "CONFIG",
        [SYSTEMALARMS_ALARM_EVENTSYSTEM] = {0}, 
        [SYSTEMALARMS_ALARM_TELEMETRY] = {0}, 
        [SYSTEMALARMS_ALARM_MANUALCONTROL] = "MANUAL",
        [SYSTEMALARMS_ALARM_ACTUATOR] = "ACTUATOR",
        [SYSTEMALARMS_ALARM_ATTITUDE] = "ATTITUDE",
        [SYSTEMALARMS_ALARM_SENSORS] = "SENSORS",
        [SYSTEMALARMS_ALARM_STABILIZATION] = "STAB",
        [SYSTEMALARMS_ALARM_PATHFOLLOWER] = "P-FOLLOW",
        [SYSTEMALARMS_ALARM_PATHPLANNER] = "P-PLAN",
        [SYSTEMALARMS_ALARM_BATTERY] = "BATTERY",
        [SYSTEMALARMS_ALARM_FLIGHTTIME] = "TIME",
        [SYSTEMALARMS_ALARM_I2C] = "I2C",
        [SYSTEMALARMS_ALARM_GPS] = "GPS",
        [SYSTEMALARMS_ALARM_ALTITUDEHOLD] = "A-HOLD",
        [SYSTEMALARMS_ALARM_BOOTFAULT] = "BOOT",
        [SYSTEMALARMS_ALARM_GEOFENCE] = "GEOFENCE",
        [SYSTEMALARMS_ALARM_TEMPBARO] = "TEMPBARO",
        [SYSTEMALARMS_ALARM_GYROBIAS] = "GYROBIAS",
        [SYSTEMALARMS_ALARM_ADC] = "ADC",
        [SYSTEMALARMS_ALARM_GIMBAL] = "GIMBAL",
}

Definition at line 245 of file alarms.c.

float Be[3]

static

Definition at line 61 of file insgps13state.c.

const char boot_reason_names[][16]

static

Initial value:

= {
        [SYSTEMALARMS_REBOOTCAUSE_BROWNOUT] = "BOOT:BROWNOUT",
        [SYSTEMALARMS_REBOOTCAUSE_PINRESET] = "BOOT:PIN RESET",
        [SYSTEMALARMS_REBOOTCAUSE_POWERONRESET] = "BOOT:PWR ON RST",
        [SYSTEMALARMS_REBOOTCAUSE_SOFTWARERESET] = "BOOT:SW RESET",
        [SYSTEMALARMS_REBOOTCAUSE_INDEPENDENTWATCHDOG] = "BOOT:INDY WDOG",
        [SYSTEMALARMS_REBOOTCAUSE_WINDOWWATCHDOG] = "BOOT:WIN WDOG",
        [SYSTEMALARMS_REBOOTCAUSE_LOWPOWER] = "BOOT:LOW POWER",
        [SYSTEMALARMS_REBOOTCAUSE_UNDEFINED] = "BOOT:UNDEFINED",
}

Definition at line 305 of file alarms.c.

const float CoeffFile[91][6] = COEFFS_FROM_NASA

static

Definition at line 58 of file WorldMagModel.c.

const char config_error_names[][15]

static

Initial value:

= {
        [SYSTEMALARMS_CONFIGERROR_STABILIZATION] = "CFG:STAB",
        [SYSTEMALARMS_CONFIGERROR_MULTIROTOR] = "CFG:MULTIROTOR",
        [SYSTEMALARMS_CONFIGERROR_AUTOTUNE] = "CFG:AUTOTUNE",
        [SYSTEMALARMS_CONFIGERROR_ALTITUDEHOLD] = "CFG:AH1",
        [SYSTEMALARMS_CONFIGERROR_POSITIONHOLD] = "CFG:POS-HOLD",
        [SYSTEMALARMS_CONFIGERROR_PATHPLANNER] = "CFG:PATHPLAN",
        [SYSTEMALARMS_CONFIGERROR_DUPLICATEPORTCFG] = "CFG:DUP PORT",
        [SYSTEMALARMS_CONFIGERROR_NAVFILTER] = "CFG:NAVFILTER",
        [SYSTEMALARMS_CONFIGERROR_UNSAFETOARM] = "CFG:UNSAFE",
        [SYSTEMALARMS_CONFIGERROR_LQG] = "CFG:LQG",
        [SYSTEMALARMS_CONFIGERROR_UNDEFINED] = "CFG:UNDEF",
        [SYSTEMALARMS_CONFIGERROR_NONE] = {0},
}

Definition at line 275 of file alarms.c.

float decimal_date

static

Definition at line 62 of file WorldMagModel.c.

WMMtype_Ellipsoid Ellip

static

Definition at line 60 of file WorldMagModel.c.

float F[NUMX][NUMX]

static

Definition at line 60 of file insgps13state.c.

float G[NUMX][NUMW]

static

Definition at line 60 of file insgps13state.c.

float H[NUMV][NUMX]

static

Definition at line 60 of file insgps13state.c.

struct pios_thread* handles[TASKINFO_RUNNING_NUMELEM]

static

Definition at line 37 of file taskmonitor.c.

uint8_t __attribute__::hour

Definition at line 36 of file timeutils.h.

float K[NUMX][NUMV]

static

Definition at line 64 of file insgps13state.c.

uint32_t lastMonitorTime

static

Definition at line 38 of file taskmonitor.c.

struct pios_mutex* lock

static

Definition at line 36 of file taskmonitor.c.

struct pios_mutex* lock

static

Definition at line 43 of file alarms.c.

WMMtype_MagneticModel MagneticModel

static

Definition at line 61 of file WorldMagModel.c.

const char manual_control_names[][13]

static

Initial value:

= {
        [SYSTEMALARMS_MANUALCONTROL_SETTINGS] = "MAN:SETTINGS",
        [SYSTEMALARMS_MANUALCONTROL_NORX] = "MAN:NO RX",
        [SYSTEMALARMS_MANUALCONTROL_ACCESSORY] = "MAN:ACC",
        [SYSTEMALARMS_MANUALCONTROL_ALTITUDEHOLD] = "MAN:A-HOLD",
        [SYSTEMALARMS_MANUALCONTROL_PATHFOLLOWER] = "MAN:PATH-F",
        [SYSTEMALARMS_MANUALCONTROL_CHANNELCONFIGURATION] = "MAN:INPUT",
        [SYSTEMALARMS_MANUALCONTROL_UNDEFINED] = "MAN:UNDEF",
        [SYSTEMALARMS_MANUALCONTROL_NONE] = {0},
}

Definition at line 292 of file alarms.c.

uint8_t __attribute__::mday

Definition at line 37 of file timeutils.h.

uint8_t __attribute__::min

Definition at line 35 of file timeutils.h.

uint8_t __attribute__::mon

Definition at line 38 of file timeutils.h.

float P[NUMX][NUMX]

static

Definition at line 62 of file insgps13state.c.

float Q[NUMW]

static

Definition at line 63 of file insgps13state.c.

float R[NUMV]

static

Definition at line 63 of file insgps13state.c.

uint8_t __attribute__::sec

Definition at line 34 of file timeutils.h.

uint8_t __attribute__::wday

Definition at line 39 of file timeutils.h.

float X[NUMX]

static

Definition at line 62 of file insgps13state.c.

uint8_t __attribute__::year

Definition at line 40 of file timeutils.h.

Modules

Files

Data Structures

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

Function Documentation

Variable Documentation