function declarations, definitions of macros, datastructures and global variables for the arudpilot application More...

#include "cfe.h"
#include "cfe_error.h"
#include "cfe_evs.h"
#include "cfe_sb.h"
#include "cfe_es.h"
#include "cfe_platform_cfg.h"
#include <string.h>
#include <errno.h>
#include <unistd.h>
#include <network_includes.h>
#include <arducopter_table.h>
#include <arducopter_events.h>
#include <arducopter_version.h>
#include <Icarous.h>
#include <traffic_msg.h>
#include <traffic_msgids.h>
#include <guidance_msg.h>
#include <guidance_msgids.h>
#include <Guidance.h>
#include <geofence_msg.h>
#include <geofence_msgids.h>
#include <trajectory_msg.h>
#include <trajectory_msgids.h>
#include <sch_msgids.h>
#include <mavlink/ardupilotmega/mavlink.h>
#include <port_lib.h>

Classes
struct	appdataInt_t
	Structure to hold app data. More...

Macros
#define	ARDUCOPTER_PIPE_NAME "FLIGHTPLAN"

#define	ARDUCOPTER_PIPE_DEPTH 100

#define	SCH_ARDUCOPTER_PIPE1_NAME "SCH_ARDUCOPTER"

Enumerations
enum	controlMode_e { STABILIZE = 0 , ACRO = 1 , ALT_HOLD = 2 , AUTO = 3 , GUIDED = 4 , LOITER = 5 , RTL = 6 , CIRCLE = 7 , DRIFT = 11 , SPORT = 13 , FLIP = 14 , AUTOTUNE = 15 , POSHOLD = 16 , BRAKE = 17 , THROW = 18 , AVOID_ADSB = 19 , GUIDED_NOGPS = 20 }
	enumeration for Arducopter control modes More...

Functions
void	ARDUCOPTER_AppMain (void)

void	ARDUCOPTER_AppInit (void)

void	ARDUCOPTER_AppInitializeData (void)

void	ARDUCOPTER_AppCleanUp (void)

void	Task1 (void)

int	GetMAVLinkMsgFromAP (void)

void	ProcessAPMessage (mavlink_message_t message)

void	ARDUCOPTER_ProcessPacket (void)

void	apSendHeartbeat (void)

void	apSendCallsign (void)

void	ap_gfCallback (uint32_t timer)

void	ap_pmCallback (uint32_t timerId)

void	ap_tjCallback (uint32_t timerId)

void	ap_startTimer (uint32_t timerID, void(f)(uint32_t), char *name, uint32_t startTime, uint32_t intvl)

void	ap_stopTimer (uint32_t *timerID)

void	apInterface_PublishParams (void)

int32_t	ArducopterTableValidationFunc (void *TblPtr)

uint16_t	apConvertPlanToMissionItems (flightplan_t *fp)

void	apConvertMissionItemsToPlan (uint16_t size, mavlink_mission_item_t items[], flightplan_t *fp)

bool	IntfServiceHandler (mavlink_message_t *message)

Variables
EXTERN appdataInt_t	appdataInt
	global variable containing app state

EXTERN flightplan_t	fpdata
	waypoint message

EXTERN missionItemReached_t	wpreached
	mission item reached

EXTERN geofence_t	gfdata
	geofence data

EXTERN argsCmd_t	startMission
	start mission command

EXTERN noArgsCmd_t	resetIcarous
	reset icarous command

EXTERN object_t	traffic
	traffic message

EXTERN position_t	position
	position message

EXTERN local_position_t	local_position
	local position message

EXTERN attitude_t	attitude
	attitude message

EXTERN battery_status_t	battery_status
	battery status message

EXTERN cmdAck_t	ack
	command acknowledge message

EXTERN vfrhud_t	vfrhud
	vfr hud data

EXTERN rc_channels_t	rc_channels
	rc channels

EXTERN home_position_t	home_position
	home position

Enumeration Type Documentation

◆ controlMode_e

enum controlMode_e

Enumerator
STABILIZE	manual airframe angle with manual throttle
ACRO	manual body-frame angular rate with manual throttle
ALT_HOLD	manual airframe angle with automatic throttle
AUTO	fully automatic waypoint control using mission commands
GUIDED	fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
LOITER	automatic horizontal acceleration with automatic throttle
RTL	automatic return to launching point
CIRCLE	automatic circular flight with automatic throttle
DRIFT	semi-automous position, yaw and throttle control
SPORT	manual earth-frame angular rate control with manual throttle
FLIP	automatically flip the vehicle on the roll axis
AUTOTUNE	automatically tune the vehicle's roll and pitch gains
POSHOLD	automatic position hold with manual override, with automatic throttle
BRAKE	full-brake using inertial/GPS system, no pilot input
THROW	throw to launch mode using inertial/GPS system, no pilot input
AVOID_ADSB	automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
GUIDED_NOGPS	guided mode but only accepts attitude and altitude

Function Documentation

◆ ARDUCOPTER_AppCleanUp()

void ARDUCOPTER_AppCleanUp ( void )

Clean up variables

◆ ARDUCOPTER_AppInit()

void ARDUCOPTER_AppInit ( void )

Initialize app properties

◆ ARDUCOPTER_AppInitializeData()

void ARDUCOPTER_AppInitializeData ( void )

Initialize app data

◆ ARDUCOPTER_AppMain()

void ARDUCOPTER_AppMain ( void )

Entry point for app

◆ ARDUCOPTER_ProcessPacket()

void ARDUCOPTER_ProcessPacket ( void )

Process SB messages from pipes and take action

◆ ArducopterTableValidationFunc()

int32_t ArducopterTableValidationFunc ( void * TblPtr )

Validate table data

Parameters

*TblPtr pointer to table

◆ GetMAVLinkMsgFromAP()

int GetMAVLinkMsgFromAP ( void )

Get mavlink message from Arducopter

◆ ProcessAPMessage()

void ProcessAPMessage ( mavlink_message_t message )

Process mavlink message from arducopter and take action

Parameters

message mavlink message

◆ Task1()

void Task1 ( void )

Read from Arducopter data stream and pass data to groundstation and ICAROUS app

Classes

Macros

Enumerations

Functions

Variables