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telemetry.h
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telemetry.h
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/*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi 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 2, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#ifndef TELEMETRY_H
#define TELEMETRY_H
#include "std.h"
#include "messages.h"
#include "mcu_periph/uart.h"
#include "subsystems/datalink/downlink.h"
#include "generated/periodic_telemetry.h"
#ifdef RADIO_CONTROL
#include "subsystems/radio_control.h"
#endif
#include "state.h"
#include "firmwares/rotorcraft/autopilot.h"
#include "firmwares/rotorcraft/guidance.h"
#include "subsystems/actuators.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/electrical.h"
#include "subsystems/imu.h"
#if USE_GPS
#include "subsystems/gps.h"
#endif
#include "subsystems/ins.h"
#include "subsystems/ahrs.h"
// I2C Error counters
#include "mcu_periph/i2c.h"
#define PERIODIC_SEND_ALIVE(_trans, _dev) DOWNLINK_SEND_ALIVE(_trans, _dev, 16, MD5SUM)
#if USE_GPS
#define PERIODIC_SEND_ROTORCRAFT_STATUS(_trans, _dev) { \
uint32_t imu_nb_err = 0; \
uint8_t _twi_blmc_nb_err = 0; \
uint16_t time_sec = sys_time.nb_sec; \
DOWNLINK_SEND_ROTORCRAFT_STATUS(_trans, _dev, \
&imu_nb_err, \
&_twi_blmc_nb_err, \
&radio_control.status, \
&radio_control.frame_rate, \
&gps.fix, \
&autopilot_mode, \
&autopilot_in_flight, \
&autopilot_motors_on, \
&guidance_h_mode, \
&guidance_v_mode, \
&electrical.vsupply, \
&time_sec \
); \
}
#else /* !USE_GPS */
#define PERIODIC_SEND_ROTORCRAFT_STATUS(_trans, _dev) { \
uint32_t imu_nb_err = 0; \
uint8_t twi_blmc_nb_err = 0; \
uint8_t fix = GPS_FIX_NONE; \
uint16_t time_sec = sys_time.nb_sec; \
DOWNLINK_SEND_ROTORCRAFT_STATUS(_trans, _dev, \
&imu_nb_err, \
&twi_blmc_nb_err, \
&radio_control.status, \
&radio_control.frame_rate, \
&fix, \
&autopilot_mode, \
&autopilot_in_flight, \
&autopilot_motors_on, \
&guidance_h_mode, \
&guidance_v_mode, \
&electrical.vsupply, \
&time_sec \
); \
}
#endif /* USE_GPS */
#ifdef RADIO_CONTROL
#define PERIODIC_SEND_RC(_trans, _dev) DOWNLINK_SEND_RC(_trans, _dev, RADIO_CONTROL_NB_CHANNEL, radio_control.values)
#if defined RADIO_KILL_SWITCH
#define PERIODIC_SEND_ROTORCRAFT_RADIO_CONTROL(_trans, _dev) SEND_ROTORCRAFT_RADIO_CONTROL( _trans, _dev, &radio_control.values[RADIO_KILL_SWITCH])
#else /* ! RADIO_KILL_SWITCH */
#define PERIODIC_SEND_ROTORCRAFT_RADIO_CONTROL(_trans, _dev) { \
int16_t foo = -42; \
SEND_ROTORCRAFT_RADIO_CONTROL( _trans, _dev, &foo) \
}
#endif /* !RADIO_KILL_SWITCH */
#define SEND_ROTORCRAFT_RADIO_CONTROL(_trans, _dev, _kill_switch) { \
DOWNLINK_SEND_ROTORCRAFT_RADIO_CONTROL(_trans, _dev, \
&radio_control.values[RADIO_ROLL], \
&radio_control.values[RADIO_PITCH], \
&radio_control.values[RADIO_YAW], \
&radio_control.values[RADIO_THROTTLE], \
&radio_control.values[RADIO_MODE], \
_kill_switch, \
&radio_control.status);}
#else /* ! RADIO_CONTROL */
#define PERIODIC_SEND_RC(_trans, _dev) {}
#define PERIODIC_SEND_ROTORCRAFT_RADIO_CONTROL(_trans, _dev) {}
#endif
#ifdef RADIO_CONTROL_TYPE_PPM
#define PERIODIC_SEND_PPM(_trans, _dev) { \
uint16_t ppm_pulses_usec[RADIO_CONTROL_NB_CHANNEL]; \
for (int i=0;i<RADIO_CONTROL_NB_CHANNEL;i++) \
ppm_pulses_usec[i] = USEC_OF_RC_PPM_TICKS(ppm_pulses[i]); \
DOWNLINK_SEND_PPM(_trans, _dev, \
&radio_control.frame_rate, \
PPM_NB_CHANNEL, \
ppm_pulses_usec); \
}
#else
#define PERIODIC_SEND_PPM(_trans, _dev) {}
#endif
#ifdef ACTUATORS
#define PERIODIC_SEND_ACTUATORS(_trans, _dev) DOWNLINK_SEND_ACTUATORS(_trans, _dev, ACTUATORS_NB, actuators)
#else
#define PERIODIC_SEND_ACTUATORS(_trans, _dev) {}
#endif
#define PERIODIC_SEND_IMU_GYRO_SCALED(_trans, _dev) { \
DOWNLINK_SEND_IMU_GYRO_SCALED(_trans, _dev, \
&imu.gyro.p, \
&imu.gyro.q, \
&imu.gyro.r); \
}
#define PERIODIC_SEND_IMU_ACCEL_SCALED(_trans, _dev) { \
DOWNLINK_SEND_IMU_ACCEL_SCALED(_trans, _dev, \
&imu.accel.x, \
&imu.accel.y, \
&imu.accel.z); \
}
#define PERIODIC_SEND_IMU_MAG_SCALED(_trans, _dev) { \
DOWNLINK_SEND_IMU_MAG_SCALED(_trans, _dev, \
&imu.mag.x, \
&imu.mag.y, \
&imu.mag.z); \
}
#define PERIODIC_SEND_IMU_GYRO_RAW(_trans, _dev) { \
DOWNLINK_SEND_IMU_GYRO_RAW(_trans, _dev, \
&imu.gyro_unscaled.p, \
&imu.gyro_unscaled.q, \
&imu.gyro_unscaled.r); \
}
#define PERIODIC_SEND_IMU_ACCEL_RAW(_trans, _dev) { \
DOWNLINK_SEND_IMU_ACCEL_RAW(_trans, _dev, \
&imu.accel_unscaled.x, \
&imu.accel_unscaled.y, \
&imu.accel_unscaled.z); \
}
#define PERIODIC_SEND_IMU_MAG_RAW(_trans, _dev) { \
DOWNLINK_SEND_IMU_MAG_RAW(_trans, _dev, \
&imu.mag_unscaled.x, \
&imu.mag_unscaled.y, \
&imu.mag_unscaled.z); \
}
#define PERIODIC_SEND_IMU_MAG_CURRENT_CALIBRATION(_trans, _dev) { \
DOWNLINK_SEND_IMU_MAG_CURRENT_CALIBRATION(_trans, _dev, \
&imu.mag_unscaled.x, \
&imu.mag_unscaled.y, \
&imu.mag_unscaled.z, \
&electrical.current); \
}
#include "subsystems/sensors/baro.h"
#define PERIODIC_SEND_BARO_RAW(_trans, _dev) { \
DOWNLINK_SEND_BARO_RAW(_trans, _dev, \
&baro.absolute, \
&baro.differential); \
}
#include "firmwares/rotorcraft/stabilization.h"
#define PERIODIC_SEND_RATE_LOOP(_trans, _dev) { \
DOWNLINK_SEND_RATE_LOOP(_trans, _dev, \
&stabilization_rate_sp.p, \
&stabilization_rate_sp.q, \
&stabilization_rate_sp.r, \
&stabilization_rate_ref.p, \
&stabilization_rate_ref.q, \
&stabilization_rate_ref.r, \
&stabilization_rate_refdot.p, \
&stabilization_rate_refdot.q, \
&stabilization_rate_refdot.r, \
&stabilization_rate_sum_err.p, \
&stabilization_rate_sum_err.q, \
&stabilization_rate_sum_err.r, \
&stabilization_rate_ff_cmd.p, \
&stabilization_rate_ff_cmd.q, \
&stabilization_rate_ff_cmd.r, \
&stabilization_rate_fb_cmd.p, \
&stabilization_rate_fb_cmd.q, \
&stabilization_rate_fb_cmd.r, \
&stabilization_cmd[COMMAND_THRUST]); \
}
#ifdef STABILIZATION_ATTITUDE_NO_REF
#define PERIODIC_SEND_STAB_ATTITUDE(_trans, _dev) {}
#define PERIODIC_SEND_STAB_ATTITUDE_REF(_trans, _dev) {}
#elif defined STABILIZATION_ATTITUDE_TYPE_INT
#define PERIODIC_SEND_STAB_ATTITUDE(_trans, _dev) { \
struct Int32Rates* body_rate = stateGetBodyRates_i(); \
struct Int32Eulers* att = stateGetNedToBodyEulers_i(); \
DOWNLINK_SEND_STAB_ATTITUDE_INT(_trans, _dev, \
&(body_rate->p), &(body_rate->q), &(body_rate->r), \
&(att->phi), &(att->theta), &(att->psi), \
&stab_att_sp_euler.phi, \
&stab_att_sp_euler.theta, \
&stab_att_sp_euler.psi, \
&stabilization_att_sum_err.phi, \
&stabilization_att_sum_err.theta, \
&stabilization_att_sum_err.psi, \
&stabilization_att_fb_cmd[COMMAND_ROLL], \
&stabilization_att_fb_cmd[COMMAND_PITCH], \
&stabilization_att_fb_cmd[COMMAND_YAW], \
&stabilization_att_ff_cmd[COMMAND_ROLL], \
&stabilization_att_ff_cmd[COMMAND_PITCH], \
&stabilization_att_ff_cmd[COMMAND_YAW], \
&stabilization_cmd[COMMAND_ROLL], \
&stabilization_cmd[COMMAND_PITCH], \
&stabilization_cmd[COMMAND_YAW]); \
}
#define PERIODIC_SEND_STAB_ATTITUDE_REF(_trans, _dev) { \
DOWNLINK_SEND_STAB_ATTITUDE_REF_INT(_trans, _dev, \
&stab_att_sp_euler.phi, \
&stab_att_sp_euler.theta, \
&stab_att_sp_euler.psi, \
&stab_att_ref_euler.phi, \
&stab_att_ref_euler.theta, \
&stab_att_ref_euler.psi, \
&stab_att_ref_rate.p, \
&stab_att_ref_rate.q, \
&stab_att_ref_rate.r, \
&stab_att_ref_accel.p, \
&stab_att_ref_accel.q, \
&stab_att_ref_accel.r); \
}
#elif defined STABILIZATION_ATTITUDE_TYPE_FLOAT
#define PERIODIC_SEND_STAB_ATTITUDE(_trans, _dev) { \
struct FloatRates* body_rate = stateGetBodyRates_f(); \
struct FloatEulers* att = stateGetNedToBodyEulers_f(); \
float foo = 0.0; \
DOWNLINK_SEND_STAB_ATTITUDE_FLOAT(_trans, _dev, \
&(body_rate->p), &(body_rate->q), &(body_rate->r), \
&(att->phi), &(att->theta), &(att->psi), \
&stab_att_ref_euler.phi, \
&stab_att_ref_euler.theta, \
&stab_att_ref_euler.psi, \
&stabilization_att_sum_err_eulers.phi, \
&stabilization_att_sum_err_eulers.theta, \
&stabilization_att_sum_err_eulers.psi, \
&stabilization_att_fb_cmd[COMMAND_ROLL], \
&stabilization_att_fb_cmd[COMMAND_PITCH], \
&stabilization_att_fb_cmd[COMMAND_YAW], \
&stabilization_att_ff_cmd[COMMAND_ROLL], \
&stabilization_att_ff_cmd[COMMAND_PITCH], \
&stabilization_att_ff_cmd[COMMAND_YAW], \
&stabilization_cmd[COMMAND_ROLL], \
&stabilization_cmd[COMMAND_PITCH], \
&stabilization_cmd[COMMAND_YAW], \
&foo, &foo, &foo); \
}
#define PERIODIC_SEND_STAB_ATTITUDE_REF(_trans, _dev) { \
DOWNLINK_SEND_STAB_ATTITUDE_REF_FLOAT(_trans, _dev, \
&stab_att_sp_euler.phi, \
&stab_att_sp_euler.theta, \
&stab_att_sp_euler.psi, \
&stab_att_ref_euler.phi, \
&stab_att_ref_euler.theta, \
&stab_att_ref_euler.psi, \
&stab_att_ref_rate.p, \
&stab_att_ref_rate.q, \
&stab_att_ref_rate.r, \
&stab_att_ref_accel.p, \
&stab_att_ref_accel.q, \
&stab_att_ref_accel.r); \
}
#endif /* STABILIZATION_ATTITUDE_TYPE_FLOAT */
#include "subsystems/ahrs/ahrs_aligner.h"
#define PERIODIC_SEND_FILTER_ALIGNER(_trans, _dev) { \
DOWNLINK_SEND_FILTER_ALIGNER(_trans, _dev, \
&ahrs_aligner.lp_gyro.p, \
&ahrs_aligner.lp_gyro.q, \
&ahrs_aligner.lp_gyro.r, \
&imu.gyro.p, \
&imu.gyro.q, \
&imu.gyro.r, \
&ahrs_aligner.noise, \
&ahrs_aligner.low_noise_cnt, \
&ahrs_aligner.status); \
}
#define PERIODIC_SEND_ROTORCRAFT_CMD(_trans, _dev) { \
DOWNLINK_SEND_ROTORCRAFT_CMD(_trans, _dev, \
&stabilization_cmd[COMMAND_ROLL], \
&stabilization_cmd[COMMAND_PITCH], \
&stabilization_cmd[COMMAND_YAW], \
&stabilization_cmd[COMMAND_THRUST]); \
}
#if USE_AHRS_CMPL_EULER
#include "subsystems/ahrs/ahrs_int_cmpl_euler.h"
#define PERIODIC_SEND_FILTER(_trans, _dev) { \
DOWNLINK_SEND_FILTER(_trans, _dev, \
&ahrs_impl.ltp_to_imu_euler.phi, \
&ahrs_impl.ltp_to_imu_euler.theta, \
&ahrs_impl.ltp_to_imu_euler.psi, \
&ahrs_impl.measure.phi, \
&ahrs_impl.measure.theta, \
&ahrs_impl.measure.psi, \
&ahrs_impl.hi_res_euler.phi, \
&ahrs_impl.hi_res_euler.theta, \
&ahrs_impl.hi_res_euler.psi, \
&ahrs_impl.residual.phi, \
&ahrs_impl.residual.theta, \
&ahrs_impl.residual.psi, \
&ahrs_impl.gyro_bias.p, \
&ahrs_impl.gyro_bias.q, \
&ahrs_impl.gyro_bias.r); \
}
#else
#define PERIODIC_SEND_FILTER(_trans, _dev) {}
#endif
#if USE_AHRS_ARDRONE2
#include "subsystems/ahrs/ahrs_ardrone2.h"
#define PERIODIC_SEND_AHRS_ARDRONE2(_trans, _dev) { \
DOWNLINK_SEND_AHRS_ARDRONE2(_trans, _dev, \
&ahrs_impl.state, \
&ahrs_impl.control_state, \
&ahrs_impl.eulers.phi, \
&ahrs_impl.eulers.theta, \
&ahrs_impl.eulers.psi, \
&ahrs_impl.speed.x, \
&ahrs_impl.speed.y, \
&ahrs_impl.speed.z, \
&ahrs_impl.accel.x, \
&ahrs_impl.accel.y, \
&ahrs_impl.accel.z, \
&ahrs_impl.altitude, \
&ahrs_impl.battery); \
}
#else
#define PERIODIC_SEND_AHRS_ARDRONE2(_trans, _dev) {}
#endif
#if USE_AHRS_CMPL_EULER || USE_AHRS_CMPL_QUAT
#define PERIODIC_SEND_AHRS_GYRO_BIAS_INT(_trans, _dev) { \
DOWNLINK_SEND_AHRS_GYRO_BIAS_INT(_trans, _dev, \
&ahrs_impl.gyro_bias.p, \
&ahrs_impl.gyro_bias.q, \
&ahrs_impl.gyro_bias.r); \
}
#else
#define PERIODIC_SEND_AHRS_GYRO_BIAS_INT(_trans, _dev) {}
#endif
#if defined STABILIZATION_ATTITUDE_TYPE_QUAT && defined STABILIZATION_ATTITUDE_TYPE_INT
#define PERIODIC_SEND_AHRS_REF_QUAT(_trans, _dev) { \
DOWNLINK_SEND_AHRS_REF_QUAT(_trans, _dev, \
&stab_att_ref_quat.qi, \
&stab_att_ref_quat.qx, \
&stab_att_ref_quat.qy, \
&stab_att_ref_quat.qz, \
&(stateGetNedToBodyQuat_i()->qi), \
&(stateGetNedToBodyQuat_i()->qx), \
&(stateGetNedToBodyQuat_i()->qy), \
&(stateGetNedToBodyQuat_i()->qz)); \
}
#else
#define PERIODIC_SEND_AHRS_REF_QUAT(_trans, _dev) {}
#endif /* STABILIZATION_ATTITUDE_TYPE_QUAT */
#ifndef AHRS_FLOAT
#define PERIODIC_SEND_AHRS_QUAT_INT(_trans, _dev) { \
DOWNLINK_SEND_AHRS_QUAT_INT(_trans, _dev, \
&ahrs_impl.ltp_to_imu_quat.qi, \
&ahrs_impl.ltp_to_imu_quat.qx, \
&ahrs_impl.ltp_to_imu_quat.qy, \
&ahrs_impl.ltp_to_imu_quat.qz, \
&(stateGetNedToBodyQuat_i()->qi), \
&(stateGetNedToBodyQuat_i()->qx), \
&(stateGetNedToBodyQuat_i()->qy), \
&(stateGetNedToBodyQuat_i()->qz)); \
}
#endif
#if USE_AHRS_CMPL_EULER
#define PERIODIC_SEND_AHRS_EULER_INT(_trans, _dev) { \
DOWNLINK_SEND_AHRS_EULER_INT(_trans, _dev, \
&ahrs_impl.ltp_to_imu_euler.phi, \
&ahrs_impl.ltp_to_imu_euler.theta, \
&ahrs_impl.ltp_to_imu_euler.psi, \
&(stateGetNedToBodyEulers_i()->phi), \
&(stateGetNedToBodyEulers_i()->theta), \
&(stateGetNedToBodyEulers_i()->psi)); \
}
#else
#ifndef AHRS_FLOAT
#define PERIODIC_SEND_AHRS_EULER_INT(_trans, _dev) { \
struct Int32Eulers ltp_to_imu_euler; \
INT32_EULERS_OF_QUAT(ltp_to_imu_euler, ahrs_impl.ltp_to_imu_quat); \
DOWNLINK_SEND_AHRS_EULER_INT(_trans, _dev, \
<p_to_imu_euler.phi, \
<p_to_imu_euler.theta, \
<p_to_imu_euler.psi, \
&(stateGetNedToBodyEulers_i()->phi), \
&(stateGetNedToBodyEulers_i()->theta), \
&(stateGetNedToBodyEulers_i()->psi)); \
}
#else
#define PERIODIC_SEND_AHRS_EULER_INT(_trans, _dev) { \
struct FloatEulers ltp_to_imu_euler; \
FLOAT_EULERS_OF_QUAT(ltp_to_imu_euler, ahrs_impl.ltp_to_imu_quat); \
struct Int32Eulers euler_i; \
EULERS_BFP_OF_REAL(euler_i, ltp_to_imu_euler); \
DOWNLINK_SEND_AHRS_EULER_INT(_trans, _dev, \
&euler_i.phi, \
&euler_i.theta, \
&euler_i.psi, \
&(stateGetNedToBodyEulers_i()->phi), \
&(stateGetNedToBodyEulers_i()->theta), \
&(stateGetNedToBodyEulers_i()->psi)); \
}
#endif
#endif
#define PERIODIC_SEND_AHRS_RMAT_INT(_trans, _dev) { \
struct Int32RMat* att_rmat = stateGetNedToBodyRMat_i(); \
DOWNLINK_SEND_AHRS_RMAT(_trans, _dev, \
&ahrs_impl.ltp_to_imu_rmat.m[0], \
&ahrs_impl.ltp_to_imu_rmat.m[1], \
&ahrs_impl.ltp_to_imu_rmat.m[2], \
&ahrs_impl.ltp_to_imu_rmat.m[3], \
&ahrs_impl.ltp_to_imu_rmat.m[4], \
&ahrs_impl.ltp_to_imu_rmat.m[5], \
&ahrs_impl.ltp_to_imu_rmat.m[6], \
&ahrs_impl.ltp_to_imu_rmat.m[7], \
&ahrs_impl.ltp_to_imu_rmat.m[8], \
&(att_rmat->m[0]), \
&(att_rmat->m[1]), \
&(att_rmat->m[2]), \
&(att_rmat->m[3]), \
&(att_rmat->m[4]), \
&(att_rmat->m[5]), \
&(att_rmat->m[6]), \
&(att_rmat->m[7]), \
&(att_rmat->m[8])); \
}
#if USE_VFF
#include "subsystems/ins/vf_float.h"
#define PERIODIC_SEND_VFF(_trans, _dev) { \
DOWNLINK_SEND_VFF(_trans, _dev, \
&vff_z_meas, \
&vff_z, \
&vff_zdot, \
&vff_bias, \
& vff_P[0][0], \
& vff_P[1][1], \
& vff_P[2][2]); \
}
#else
#define PERIODIC_SEND_VFF(_trans, _dev) {}
#endif
#if USE_VFF_EXTENDED
#include "subsystems/ins/vf_extended_float.h"
#define PERIODIC_SEND_VFF_EXTENDED(_trans, _dev) { \
DOWNLINK_SEND_VFF_EXTENDED(_trans, _dev, \
&vff_z_meas, \
&vff_z_meas_baro, \
&vff_z, \
&vff_zdot, \
&vff_bias, \
&vff_offset); \
}
#else
#define PERIODIC_SEND_VFF_EXTENDED(_trans, _dev) {}
#endif
#if USE_HFF
#include "subsystems/ins/hf_float.h"
#define PERIODIC_SEND_HFF(_trans, _dev) { \
DOWNLINK_SEND_HFF(_trans, _dev, \
&b2_hff_state.x, \
&b2_hff_state.y, \
&b2_hff_state.xdot, \
&b2_hff_state.ydot, \
&b2_hff_state.xdotdot, \
&b2_hff_state.ydotdot); \
}
#define PERIODIC_SEND_HFF_DBG(_trans, _dev) { \
DOWNLINK_SEND_HFF_DBG(_trans, _dev, \
&b2_hff_x_meas, \
&b2_hff_y_meas, \
&b2_hff_xd_meas, \
&b2_hff_yd_meas, \
&b2_hff_state.xP[0][0], \
&b2_hff_state.yP[0][0], \
&b2_hff_state.xP[1][1], \
&b2_hff_state.yP[1][1]); \
}
#ifdef GPS_LAG
#define PERIODIC_SEND_HFF_GPS(_trans, _dev) { \
DOWNLINK_SEND_HFF_GPS(_trans, _dev, \
&(b2_hff_rb_last->lag_counter), \
&lag_counter_err, \
&save_counter); \
}
#else
#define PERIODIC_SEND_HFF_GPS(_trans, _dev) {}
#endif
#else
#define PERIODIC_SEND_HFF(_trans, _dev) {}
#define PERIODIC_SEND_HFF_DBG(_trans, _dev) {}
#define PERIODIC_SEND_HFF_GPS(_trans, _dev) {}
#endif
#define PERIODIC_SEND_GUIDANCE_H_INT(_trans, _dev) { \
DOWNLINK_SEND_GUIDANCE_H_INT(_trans, _dev, \
&guidance_h_pos_sp.x, \
&guidance_h_pos_sp.y, \
&guidance_h_pos_ref.x, \
&guidance_h_pos_ref.y, \
&ins_ltp_pos.x, \
&ins_ltp_pos.y); \
}
#define PERIODIC_SEND_INS_Z(_trans, _dev) { \
DOWNLINK_SEND_INS_Z(_trans, _dev, \
&ins_baro_alt, \
&ins_ltp_pos.z, \
&ins_ltp_speed.z, \
&ins_ltp_accel.z); \
}
#define PERIODIC_SEND_INS(_trans, _dev) { \
DOWNLINK_SEND_INS(_trans, _dev, \
&ins_ltp_pos.x, \
&ins_ltp_pos.y, \
&ins_ltp_pos.z, \
&ins_ltp_speed.x, \
&ins_ltp_speed.y, \
&ins_ltp_speed.z, \
&ins_ltp_accel.x, \
&ins_ltp_accel.y, \
&ins_ltp_accel.z); \
}
#define PERIODIC_SEND_INS_REF(_trans, _dev) { \
if (ins_ltp_initialised) \
DOWNLINK_SEND_INS_REF(_trans, _dev, \
&ins_ltp_def.ecef.x, \
&ins_ltp_def.ecef.y, \
&ins_ltp_def.ecef.z, \
&ins_ltp_def.lla.lat, \
&ins_ltp_def.lla.lon, \
&ins_ltp_def.lla.alt, \
&ins_ltp_def.hmsl, \
&ins_qfe); \
}
#define PERIODIC_SEND_VERT_LOOP(_trans, _dev) { \
DOWNLINK_SEND_VERT_LOOP(_trans, _dev, \
&guidance_v_z_sp, \
&guidance_v_zd_sp, \
&ins_ltp_pos.z, \
&ins_ltp_speed.z, \
&ins_ltp_accel.z, \
&guidance_v_z_ref, \
&guidance_v_zd_ref, \
&guidance_v_zdd_ref, \
&gv_adapt_X, \
&gv_adapt_P, \
&gv_adapt_Xmeas, \
&guidance_v_z_sum_err, \
&guidance_v_ff_cmd, \
&guidance_v_fb_cmd, \
&guidance_v_delta_t); \
}
#define PERIODIC_SEND_HOVER_LOOP(_trans, _dev) { \
DOWNLINK_SEND_HOVER_LOOP(_trans, _dev, \
&guidance_h_pos_sp.x, \
&guidance_h_pos_sp.y, \
&ins_ltp_pos.x, \
&ins_ltp_pos.y, \
&ins_ltp_speed.x, \
&ins_ltp_speed.y, \
&ins_ltp_accel.x, \
&ins_ltp_accel.y, \
&guidance_h_pos_err.x, \
&guidance_h_pos_err.y, \
&guidance_h_speed_err.x, \
&guidance_h_speed_err.y, \
&guidance_h_pos_err_sum.x, \
&guidance_h_pos_err_sum.y, \
&guidance_h_nav_err.x, \
&guidance_h_nav_err.y, \
&guidance_h_command_earth.x, \
&guidance_h_command_earth.y, \
&guidance_h_command_body.phi, \
&guidance_h_command_body.theta, \
&guidance_h_command_body.psi); \
}
#define PERIODIC_SEND_GUIDANCE_H_REF(_trans, _dev) { \
DOWNLINK_SEND_GUIDANCE_H_REF_INT(_trans, _dev, \
&guidance_h_pos_sp.x, \
&guidance_h_pos_ref.x, \
&guidance_h_speed_ref.x, \
&guidance_h_accel_ref.x, \
&guidance_h_pos_sp.y, \
&guidance_h_pos_ref.y, \
&guidance_h_speed_ref.y, \
&guidance_h_accel_ref.y); \
}
#include "firmwares/rotorcraft/navigation.h"
#define PERIODIC_SEND_ROTORCRAFT_FP(_trans, _dev) { \
int32_t carrot_up = -guidance_v_z_sp; \
DOWNLINK_SEND_ROTORCRAFT_FP( _trans, _dev, \
&(stateGetPositionEnu_i()->x), \
&(stateGetPositionEnu_i()->y), \
&(stateGetPositionEnu_i()->z), \
&(stateGetSpeedEnu_i()->x), \
&(stateGetSpeedEnu_i()->y), \
&(stateGetSpeedEnu_i()->z), \
&(stateGetNedToBodyEulers_i()->phi), \
&(stateGetNedToBodyEulers_i()->theta), \
&(stateGetNedToBodyEulers_i()->psi), \
&guidance_h_pos_sp.y, \
&guidance_h_pos_sp.x, \
&carrot_up, \
&guidance_h_command_body.psi, \
&stabilization_cmd[COMMAND_THRUST], \
&autopilot_flight_time); \
}
#if USE_GPS
#define PERIODIC_SEND_GPS_INT(_trans, _dev) { \
DOWNLINK_SEND_GPS_INT( _trans, _dev, \
&gps.ecef_pos.x, \
&gps.ecef_pos.y, \
&gps.ecef_pos.z, \
&gps.lla_pos.lat, \
&gps.lla_pos.lon, \
&gps.lla_pos.alt, \
&gps.hmsl, \
&gps.ecef_vel.x, \
&gps.ecef_vel.y, \
&gps.ecef_vel.z, \
&gps.pacc, \
&gps.sacc, \
&gps.tow, \
&gps.pdop, \
&gps.num_sv, \
&gps.fix); \
static uint8_t i; \
static uint8_t last_cnos[GPS_NB_CHANNELS]; \
if (i == gps.nb_channels) i = 0; \
if (i < gps.nb_channels && gps.svinfos[i].cno > 0 && gps.svinfos[i].cno != last_cnos[i]) { \
DOWNLINK_SEND_SVINFO(DefaultChannel, DefaultDevice, &i, &gps.svinfos[i].svid, &gps.svinfos[i].flags, &gps.svinfos[i].qi, &gps.svinfos[i].cno, &gps.svinfos[i].elev, &gps.svinfos[i].azim); \
last_cnos[i] = gps.svinfos[i].cno; \
} \
i++; \
}
#else
#define PERIODIC_SEND_GPS_INT(_trans, _dev) {}
#endif
#include "firmwares/rotorcraft/navigation.h"
#define PERIODIC_SEND_ROTORCRAFT_NAV_STATUS(_trans, _dev) { \
DOWNLINK_SEND_ROTORCRAFT_NAV_STATUS(_trans, _dev, \
&block_time, \
&stage_time, \
&nav_block, \
&nav_stage, \
&horizontal_mode); \
if (horizontal_mode == HORIZONTAL_MODE_ROUTE) { \
float sx = POS_FLOAT_OF_BFP(waypoints[nav_segment_start].x); \
float sy = POS_FLOAT_OF_BFP(waypoints[nav_segment_start].y); \
float ex = POS_FLOAT_OF_BFP(waypoints[nav_segment_end].x); \
float ey = POS_FLOAT_OF_BFP(waypoints[nav_segment_end].y); \
DOWNLINK_SEND_SEGMENT(_trans, _dev, &sx, &sy, &ex, &ey); \
} \
else if (horizontal_mode == HORIZONTAL_MODE_CIRCLE) { \
float cx = POS_FLOAT_OF_BFP(waypoints[nav_circle_centre].x); \
float cy = POS_FLOAT_OF_BFP(waypoints[nav_circle_centre].y); \
float r = POS_FLOAT_OF_BFP(nav_circle_radius); \
DOWNLINK_SEND_CIRCLE(_trans, _dev, &cx, &cy, &r); \
} \
}
#define PERIODIC_SEND_WP_MOVED(_trans, _dev) { \
static uint8_t i; \
i++; if (i >= nb_waypoint) i = 0; \
DOWNLINK_SEND_WP_MOVED_ENU(_trans, _dev, \
&i, \
&(waypoints[i].x), \
&(waypoints[i].y), \
&(waypoints[i].z)); \
}
#if USE_CAM
#define PERIODIC_SEND_ROTORCRAFT_CAM(_trans, _dev) DOWNLINK_SEND_ROTORCRAFT_CAM(_trans, _dev,&rotorcraft_cam_tilt,&rotorcraft_cam_pan);
#else
#define PERIODIC_SEND_ROTORCRAFT_CAM(_trans, _dev) {}
#endif
#ifndef AHRS_FLOAT
#define PERIODIC_SEND_ROTORCRAFT_TUNE_HOVER(_trans, _dev) { \
DOWNLINK_SEND_ROTORCRAFT_TUNE_HOVER(_trans, _dev, \
&radio_control.values[RADIO_ROLL], \
&radio_control.values[RADIO_PITCH], \
&radio_control.values[RADIO_YAW], \
&stabilization_cmd[COMMAND_ROLL], \
&stabilization_cmd[COMMAND_PITCH], \
&stabilization_cmd[COMMAND_YAW], \
&stabilization_cmd[COMMAND_THRUST], \
&ahrs_impl.ltp_to_imu_euler.phi, \
&ahrs_impl.ltp_to_imu_euler.theta, \
&ahrs_impl.ltp_to_imu_euler.psi, \
&(stateGetNedToBodyEulers_i()->phi), \
&(stateGetNedToBodyEulers_i()->theta), \
&(stateGetNedToBodyEulers_i()->psi)); \
}
#endif
#ifdef USE_I2C0
#define PERIODIC_SEND_I2C0_ERRORS(_trans, _dev) { \
uint16_t i2c0_ack_fail_cnt = i2c0.errors->ack_fail_cnt; \
uint16_t i2c0_miss_start_stop_cnt = i2c0.errors->miss_start_stop_cnt; \
uint16_t i2c0_arb_lost_cnt = i2c0.errors->arb_lost_cnt; \
uint16_t i2c0_over_under_cnt = i2c0.errors->over_under_cnt; \
uint16_t i2c0_pec_recep_cnt = i2c0.errors->pec_recep_cnt; \
uint16_t i2c0_timeout_tlow_cnt = i2c0.errors->timeout_tlow_cnt; \
uint16_t i2c0_smbus_alert_cnt = i2c0.errors->smbus_alert_cnt; \
uint16_t i2c0_unexpected_event_cnt = i2c0.errors->unexpected_event_cnt; \
uint32_t i2c0_last_unexpected_event = i2c0.errors->last_unexpected_event; \
const uint8_t _bus0 = 0; \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c0_ack_fail_cnt, \
&i2c0_miss_start_stop_cnt, \
&i2c0_arb_lost_cnt, \
&i2c0_over_under_cnt, \
&i2c0_pec_recep_cnt, \
&i2c0_timeout_tlow_cnt, \
&i2c0_smbus_alert_cnt, \
&i2c0_unexpected_event_cnt, \
&i2c0_last_unexpected_event, \
&_bus0); \
}
#else
#define PERIODIC_SEND_I2C0_ERRORS(_trans, _dev) {}
#endif
#ifdef USE_I2C1
#define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) { \
uint16_t i2c1_ack_fail_cnt = i2c1.errors->ack_fail_cnt; \
uint16_t i2c1_miss_start_stop_cnt = i2c1.errors->miss_start_stop_cnt; \
uint16_t i2c1_arb_lost_cnt = i2c1.errors->arb_lost_cnt; \
uint16_t i2c1_over_under_cnt = i2c1.errors->over_under_cnt; \
uint16_t i2c1_pec_recep_cnt = i2c1.errors->pec_recep_cnt; \
uint16_t i2c1_timeout_tlow_cnt = i2c1.errors->timeout_tlow_cnt; \
uint16_t i2c1_smbus_alert_cnt = i2c1.errors->smbus_alert_cnt; \
uint16_t i2c1_unexpected_event_cnt = i2c1.errors->unexpected_event_cnt; \
uint32_t i2c1_last_unexpected_event = i2c1.errors->last_unexpected_event; \
const uint8_t _bus1 = 1; \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c1_ack_fail_cnt, \
&i2c1_miss_start_stop_cnt, \
&i2c1_arb_lost_cnt, \
&i2c1_over_under_cnt, \
&i2c1_pec_recep_cnt, \
&i2c1_timeout_tlow_cnt, \
&i2c1_smbus_alert_cnt, \
&i2c1_unexpected_event_cnt, \
&i2c1_last_unexpected_event, \
&_bus1); \
}
#else
#define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) {}
#endif
#ifdef USE_I2C2
#define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) { \
uint16_t i2c2_ack_fail_cnt = i2c2.errors->ack_fail_cnt; \
uint16_t i2c2_miss_start_stop_cnt = i2c2.errors->miss_start_stop_cnt; \
uint16_t i2c2_arb_lost_cnt = i2c2.errors->arb_lost_cnt; \
uint16_t i2c2_over_under_cnt = i2c2.errors->over_under_cnt; \
uint16_t i2c2_pec_recep_cnt = i2c2.errors->pec_recep_cnt; \
uint16_t i2c2_timeout_tlow_cnt = i2c2.errors->timeout_tlow_cnt; \
uint16_t i2c2_smbus_alert_cnt = i2c2.errors->smbus_alert_cnt; \
uint16_t i2c2_unexpected_event_cnt = i2c2.errors->unexpected_event_cnt; \
uint32_t i2c2_last_unexpected_event = i2c2.errors->last_unexpected_event; \
const uint8_t _bus2 = 2; \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c2_ack_fail_cnt, \
&i2c2_miss_start_stop_cnt, \
&i2c2_arb_lost_cnt, \
&i2c2_over_under_cnt, \
&i2c2_pec_recep_cnt, \
&i2c2_timeout_tlow_cnt, \
&i2c2_smbus_alert_cnt, \
&i2c2_unexpected_event_cnt, \
&i2c2_last_unexpected_event, \
&_bus2); \
}
#else
#define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) {}
#endif
#ifndef SITL
#define PERIODIC_SEND_I2C_ERRORS(_trans, _dev) { \
static uint8_t _i2c_nb_cnt = 0; \
switch (_i2c_nb_cnt) { \
case 0: \
PERIODIC_SEND_I2C0_ERRORS(_trans, _dev); break; \
case 1: \
PERIODIC_SEND_I2C1_ERRORS(_trans, _dev); break; \
case 2: \
PERIODIC_SEND_I2C2_ERRORS(_trans, _dev); break; \
default: \
break; \
} \
_i2c_nb_cnt++; \
if (_i2c_nb_cnt == 3) \
_i2c_nb_cnt = 0; \
}
#else
#define PERIODIC_SEND_I2C_ERRORS(_trans, _dev) {}
#endif
#ifdef BOOZ2_TRACK_CAM
#include "cam_track.h"
#define PERIODIC_SEND_CAM_TRACK(_trans, _dev) DOWNLINK_SEND_NPS_SPEED_POS(_trans, _dev, \
&target_accel_ned.x, \
&target_accel_ned.y, \
&target_accel_ned.z, \
&target_speed_ned.x, \
&target_speed_ned.y, \
&target_speed_ned.z, \
&target_pos_ned.x, \
&target_pos_ned.y, \
&target_pos_ned.z)
#else
#define PERIODIC_SEND_CAM_TRACK(_trans, _dev) {}
#endif
#ifdef ARDRONE2_RAW
#include "navdata.h"
#define PERIODIC_SEND_ARDRONE_NAVDATA(_trans, _dev) DOWNLINK_SEND_ARDRONE_NAVDATA(_trans, _dev, \
&navdata->taille, \
&navdata->nu_trame, \
&navdata->ax, \
&navdata->ay, \
&navdata->az, \
&navdata->vx, \
&navdata->vy, \
&navdata->vz, \
&navdata->temperature_acc, \
&navdata->temperature_gyro, \
&navdata->ultrasound, \
&navdata->us_debut_echo, \
&navdata->us_fin_echo, \
&navdata->us_association_echo, \
&navdata->us_distance_echo, \
&navdata->us_curve_time, \
&navdata->us_curve_value, \
&navdata->us_curve_ref, \
&navdata->nb_echo, \
&navdata->sum_echo, \
&navdata->gradient, \
&navdata->flag_echo_ini, \
&navdata->pressure, \
&navdata->temperature_pressure, \
&navdata->mx, \
&navdata->my, \
&navdata->mz, \
&navdata->chksum \
)
#else
#define PERIODIC_SEND_ARDRONE_NAVDATA(_trans, _dev) {}
#endif
#include "generated/settings.h"
#define PERIODIC_SEND_DL_VALUE(_trans, _dev) PeriodicSendDlValue(_trans, _dev)
/*
* Sending of UART errors.
*/
#ifdef USE_UART1
#define PERIODIC_SEND_UART1_ERRORS(_trans, _dev) { \
const uint8_t _bus1 = 1; \
DOWNLINK_SEND_UART_ERRORS(_trans, _dev, \
&uart1.ore, \
&uart1.ne_err, \
&uart1.fe_err, \
&_bus1); \
}
#else
#define PERIODIC_SEND_UART1_ERRORS(_trans, _dev) {}
#endif
#ifdef USE_UART2
#define PERIODIC_SEND_UART2_ERRORS(_trans, _dev) { \
const uint8_t _bus2 = 2; \
DOWNLINK_SEND_UART_ERRORS(_trans, _dev, \
&uart2.ore, \
&uart2.ne_err, \
&uart2.fe_err, \
&_bus2); \
}
#else
#define PERIODIC_SEND_UART2_ERRORS(_trans, _dev) {}
#endif
#ifdef USE_UART3
#define PERIODIC_SEND_UART3_ERRORS(_trans, _dev) { \
const uint8_t _bus3 = 3; \
DOWNLINK_SEND_UART_ERRORS(_trans, _dev, \
&uart3.ore, \
&uart3.ne_err, \
&uart3.fe_err, \
&_bus3); \
}
#else
#define PERIODIC_SEND_UART3_ERRORS(_trans, _dev) {}
#endif
#ifdef USE_UART5
#define PERIODIC_SEND_UART5_ERRORS(_trans, _dev) { \
const uint8_t _bus5 = 5; \
DOWNLINK_SEND_UART_ERRORS(_trans, _dev, \
&uart5.ore, \
&uart5.ne_err, \
&uart5.fe_err, \
&_bus5); \
}
#else
#define PERIODIC_SEND_UART5_ERRORS(_trans, _dev) {}
#endif
#ifndef SITL
#define PERIODIC_SEND_UART_ERRORS(_trans, _dev) { \
static uint8_t uart_nb_cnt = 0; \
switch (uart_nb_cnt) { \
case 0: \
PERIODIC_SEND_UART1_ERRORS(_trans, _dev); break; \
case 1: \
PERIODIC_SEND_UART2_ERRORS(_trans, _dev); break; \
case 2: \
PERIODIC_SEND_UART3_ERRORS(_trans, _dev); break; \