#include <HL_interface.h>

Include dependency graph for sdk.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	RO_ALL_DATA
struct	RO_RC_DATA
struct	WAYPOINT
struct	WO_CTRL_INPUT
struct	WO_DIRECT_INDIVIDUAL_MOTOR_CONTROL
struct	WO_DIRECT_MOTOR_CONTROL
struct	WO_SDK_STRUCT
Defines
#define	CMD_MAX_PERIOD 100
#define	WP_CMD_ABORT 0x06
#define	WP_CMD_GOHOME 0x04
#define	WP_CMD_LAND 0x03
#define	WP_CMD_LAUNCH 0x02
#define	WP_CMD_SETHOME 0x05
#define	WP_CMD_SINGLE_WP 0x01
#define	WP_NAVSTAT_20M 0x04
#define	WP_NAVSTAT_PILOT_ABORT 0x08
#define	WP_NAVSTAT_REACHED_POS 0x01
#define	WP_NAVSTAT_REACHED_POS_TIME 0x02
#define	WPPROP_ABSCOORDS 0x01
#define	WPPROP_AUTOMATICGOTO 0x10
#define	WPPROP_HEIGHTENABLED 0x02
#define	WPPROP_YAWENABLED 0x04
Functions
int	checkTxPeriod (uint16_t period)
	checks if a packet has to be sent
void	predictEkfState (void)
	perform ekf state prediction
void	SDK_mainloop (void)
void	sdkInit (void)
	initializes the sdk
void	sendEkfState (void)
	assembles ekf state packet and sends it
void	sendGpsData (void)
	assembles GPS packet and sends it
void	sendImuData (void)
	assembles IMU packet and sends it
void	sendMagData (void)
	assembles magnetic compass data packet and sends it
void	sendRcData (void)
	assembles rc packet and sends it
void	sendStatus (void)
	assembles status packet and sends it
void	synchronizeTime (void)
	adjusts HLP time to host PC time
void	watchdog (void)
	gets called every sdk loops. Currently, only checks for packets from the PC and starts autobaud in case there wwas no communication in the last 10 s
void	writeCommand (short pitch, short roll, short yaw, short thrust, short ctrl, short enable)
	Writes command to the LLP.
Variables
HLI_EXT_POSITION	extPosition
HLI_CMD_HL	extPositionCmd
HLI_CONFIG	hli_config
struct RO_ALL_DATA	RO_ALL_Data
struct RO_RC_DATA	RO_RC_Data
unsigned int	sdkLoops
	counts ssdk loops
HLI_STATUS	statusData
volatile int64_t	timestamp
	current time. Gets incremented by timer0 and gets corrected by synchronizeTime().
struct WO_CTRL_INPUT	WO_CTRL_Input
struct WO_DIRECT_INDIVIDUAL_MOTOR_CONTROL	WO_Direct_Individual_Motor_Control
struct WO_DIRECT_MOTOR_CONTROL	WO_Direct_Motor_Control
struct WO_SDK_STRUCT	WO_SDK
unsigned char	wpCtrlAckTrigger
unsigned short	wpCtrlDistToWp
unsigned short	wpCtrlNavStatus
unsigned char	wpCtrlWpCmd
unsigned char	wpCtrlWpCmdUpdated
struct WAYPOINT	wpToLL

Define Documentation

#define CMD_MAX_PERIOD 100

Definition at line 40 of file sdk.h.

#define WP_CMD_ABORT 0x06

Definition at line 357 of file sdk.h.

#define WP_CMD_GOHOME 0x04

Definition at line 355 of file sdk.h.

#define WP_CMD_LAND 0x03

Definition at line 354 of file sdk.h.

#define WP_CMD_LAUNCH 0x02

Definition at line 353 of file sdk.h.

#define WP_CMD_SETHOME 0x05

Definition at line 356 of file sdk.h.

#define WP_CMD_SINGLE_WP 0x01

Definition at line 352 of file sdk.h.

#define WP_NAVSTAT_20M 0x04

Definition at line 366 of file sdk.h.

#define WP_NAVSTAT_PILOT_ABORT 0x08

Definition at line 367 of file sdk.h.

#define WP_NAVSTAT_REACHED_POS 0x01

Definition at line 364 of file sdk.h.

#define WP_NAVSTAT_REACHED_POS_TIME 0x02

Definition at line 365 of file sdk.h.

#define WPPROP_ABSCOORDS 0x01

Definition at line 346 of file sdk.h.

#define WPPROP_AUTOMATICGOTO 0x10

Definition at line 349 of file sdk.h.

#define WPPROP_HEIGHTENABLED 0x02

Definition at line 347 of file sdk.h.

#define WPPROP_YAWENABLED 0x04

Definition at line 348 of file sdk.h.

Function Documentation

int checkTxPeriod ( uint16_t period ) [inline]

checks if a packet has to be sent

Definition at line 675 of file sdk.c.

void predictEkfState ( void ) [inline]

perform ekf state prediction

void SDK_mainloop ( void )

SDK_mainloop(void) is triggered @ 1kHz.

WO_(Write Only) data is written to the LL processor after execution of this function.

RO_(Read Only) data is updated before entering this function and can be read to obtain information for supervision or control

WO_ and RO_ structs are defined in sdk.h

The struct LL_1khz_attitude_data (defined in LL_HL_comm.h) can be used to read all sensor data, results of the data fusion and R/C inputs transmitted from the LL-processor. This struct is automatically updated at 1 kHz.

Definition at line 109 of file original_hl_sdk_2.0/sdk.c.

void sdkInit ( void )

initializes the sdk

Definition at line 131 of file sdk.c.

void sendEkfState ( void ) [inline]

assembles ekf state packet and sends it

void sendGpsData ( void ) [inline]

assembles GPS packet and sends it

Definition at line 535 of file sdk.c.

void sendImuData ( void ) [inline]

assembles IMU packet and sends it

Definition at line 513 of file sdk.c.