#include <inttypes.h>
#include "pid.h"
#include "uart.h"
#include "hardware.h"
#include "kalman.h"
#include "comm_util_LL.h"

Include dependency graph for sdk.h:

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

Go to the source code of this file.

Classes
struct	MAV_CTRL_CMD
struct	MAV_DES_POSE
struct	MAV_POSE_SI
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	LAND_THRUST_DECREASE_PERIOD 1
#define	LAND_THRUST_DECREASE_STEP 0.01
#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, uint16_t phase)
	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	estop (void)
void	feedbackBeep (void)
unsigned short	isSerialEnabled (void)
void	processEngageDisengageTimeouts (void)
void	processFlightActionRequests (void)
void	processKF (void)
void	processLandingThrust (void)
void	processMotorCommands (void)
void	processMotorStateChanges (void)
void	processSendData (void)
void	SDK_mainloop (void)
void	sdkInit (void)
void	sendCtrlDebugData (void)
void	sendFlightStateData (void)
void	sendImuData (void)
void	sendMavPoseData (void)
void	sendRcData (void)
void	sendStatusData (void)
void	synchronizeTime (void)
	adjusts HLP time to host PC time
void	writeCommand (short pitch, short roll, short yaw, short thrust, short ctrl, short enable)
Variables
struct RO_ALL_DATA	RO_ALL_Data
struct RO_RC_DATA	RO_RC_Data
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 43 of file sdk.h.

#define LAND_THRUST_DECREASE_PERIOD 1

Definition at line 46 of file sdk.h.

#define LAND_THRUST_DECREASE_STEP 0.01

Definition at line 45 of file sdk.h.

#define WP_CMD_ABORT 0x06

Definition at line 385 of file sdk.h.

#define WP_CMD_GOHOME 0x04

Definition at line 383 of file sdk.h.

#define WP_CMD_LAND 0x03

Definition at line 382 of file sdk.h.

#define WP_CMD_LAUNCH 0x02

Definition at line 381 of file sdk.h.

#define WP_CMD_SETHOME 0x05

Definition at line 384 of file sdk.h.

#define WP_CMD_SINGLE_WP 0x01

Definition at line 380 of file sdk.h.

#define WP_NAVSTAT_20M 0x04

Definition at line 394 of file sdk.h.

#define WP_NAVSTAT_PILOT_ABORT 0x08

Definition at line 395 of file sdk.h.

#define WP_NAVSTAT_REACHED_POS 0x01

Definition at line 392 of file sdk.h.

#define WP_NAVSTAT_REACHED_POS_TIME 0x02

Definition at line 393 of file sdk.h.

#define WPPROP_ABSCOORDS 0x01

Definition at line 374 of file sdk.h.

#define WPPROP_AUTOMATICGOTO 0x10

Definition at line 377 of file sdk.h.

#define WPPROP_HEIGHTENABLED 0x02

Definition at line 375 of file sdk.h.

#define WPPROP_YAWENABLED 0x04

Definition at line 376 of file sdk.h.

Function Documentation

int checkTxPeriod	(	uint16_t	period,
		uint16_t	phase
	)		`[inline]`

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

checks if a packet has to be sent

Definition at line 401 of file sdk.c.

void estop ( void ) [inline]

void feedbackBeep ( void ) [inline]

Definition at line 495 of file sdk.c.

unsigned short isSerialEnabled ( void ) [inline]

Definition at line 328 of file sdk.c.

void processEngageDisengageTimeouts ( void ) [inline]

Definition at line 595 of file sdk.c.

void processFlightActionRequests ( void ) [inline]

Definition at line 544 of file sdk.c.

void processKF ( void ) [inline]

Definition at line 409 of file sdk.c.

void processLandingThrust ( void ) [inline]

Definition at line 607 of file sdk.c.

void processMotorCommands ( void ) [inline]

Definition at line 635 of file sdk.c.

void processMotorStateChanges ( void ) [inline]

Definition at line 523 of file sdk.c.

void processSendData ( void ) [inline]

Definition at line 679 of file sdk.c.

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 178 of file sdk.c.

void sdkInit ( void )

Definition at line 120 of file sdk.c.

void sendCtrlDebugData ( void ) [inline]

Definition at line 305 of file sdk.c.

void sendFlightStateData ( void ) [inline]

Definition at line 287 of file sdk.c.

void sendImuData ( void ) [inline]

Definition at line 276 of file sdk.c.

void sendMavPoseData ( void ) [inline]

Definition at line 271 of file sdk.c.

void sendRcData ( void ) [inline]