-
Notifications
You must be signed in to change notification settings - Fork 66
/
main.c
96 lines (79 loc) · 2.73 KB
/
main.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Main program execution
* @author Martin Rutschmann
* @author Laurens MacKay
* @author Lorenz Meier
* @author Christian Dobler
*
* Please refer to
*
* http://pixhawk.ethz.ch/software/imu/start
* and
* http://pixhawk.ethz.ch/api/imu_autopilot/
*
* For the full documentation of this code.
*
*/
#include "conf.h" /* Defines the system type in conf/user_conf.h */
// All mainloops are in folder main/mainloop_xx.h
// Please note that through the default -O2 optimization
// only executed code is compiled into the binary.
// It is therefore sufficient to have the mainloop executions
// guarded by the define switch, the C-files can be safely
// compiled along.
#include "mainloop_generic.h"
#if PX_VEHICLE_TYPE == PX_AIRFRAME_FIXED_WING
#include "mainloop_fixed_wing.h"
#elif PX_VEHICLE_TYPE == PX_AIRFRAME_QUADROTOR
#include "mainloop_quadrotor.h"
#elif PX_VEHICLE_TYPE == PX_GROUND_CAR
#include "mainloop_ground_car.h"
#endif
/**
* @brief Main function
*
* The main function first calls the main_init() function and then loops through
* the main_loop() function until shutdown.
*/
int main(void)
{
#if PX_VEHICLE_TYPE == PX_GENERIC
// Please note that the functions of
// the generic vehicle are executed
// in the main_init and main_loop
// functions of the other vehicle types
// as well.
main_init_generic();
main_loop_generic();
#warning "INFO: COMPILING CODE FOR GENERIC VEHICLE"
#elif PX_VEHICLE_TYPE == PX_AIRFRAME_FIXED_WING
main_init_fixed_wing();
main_loop_fixed_wing();
#warning "INFO: COMPILING CODE FOR FIXED WING AIRCRAFT"
#elif PX_VEHICLE_TYPE == PX_AIRFRAME_QUADROTOR
main_init_quadrotor();
main_loop_quadrotor();
#warning "INFO: COMPILING CODE FOR QUADROTOR"
#elif PX_VEHICLE_TYPE == PX_GROUND_CAR
main_init_ground_car();
main_loop_ground_car();
#warning "INFO: COMPILING CODE FOR GROUND CAR"
#endif
return 0;
}