78 #define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(Copter, &copter, func, rate_hz, max_time_micros) 89 #if OPTFLOW == ENABLED 95 #if TOY_MODE_ENABLED == ENABLED 100 #if RANGEFINDER_ENABLED == ENABLED 103 #if PROXIMITY_ENABLED == ENABLED 106 #if BEACON_ENABLED == ENABLED 109 #if VISUAL_ODOMETRY_ENABLED == ENABLED 115 #if MODE_SMARTRTL_ENABLED == ENABLED 121 #if PRECISION_LANDING == ENABLED 124 #if FRAME_CONFIG == HELI_FRAME 127 #if LOGGING_ENABLED == ENABLED 143 #if CAMERA == ENABLED 146 #if LOGGING_ENABLED == ENABLED 153 #if RPM_ENABLED == ENABLED 159 #if ADSB_ENABLED == ENABLED 162 #if ADVANCED_FAILSAFE == ENABLED 165 #if AC_TERRAIN == ENABLED 168 #if GRIPPER_ENABLED == ENABLED 171 #if WINCH_ENABLED == ENABLED 174 #ifdef USERHOOK_FASTLOOP 177 #ifdef USERHOOK_50HZLOOP 180 #ifdef USERHOOK_MEDIUMLOOP 183 #ifdef USERHOOK_SLOWLOOP 186 #ifdef USERHOOK_SUPERSLOWLOOP 190 #if STATS_ENABLED == ENABLED 234 #if FRAME_CONFIG == HELI_FRAME 285 #if FRAME_CONFIG == HELI_FRAME 354 #if PROXIMITY_ENABLED == ENABLED 357 #if BEACON_ENABLED == ENABLED 361 #if FRAME_CONFIG == HELI_FRAME 369 #if HIL_MODE != HIL_MODE_DISABLED 374 #if HIL_MODE == HIL_MODE_DISABLED 385 #if PRECISION_LANDING == ENABLED 400 #if AC_FENCE == ENABLED 403 #endif // AC_FENCE_ENABLED 405 #if SPRAYER == ENABLED 433 #if FRAME_CONFIG != HELI_FRAME 447 #if ADSB_ENABLED == ENABLED 448 adsb.set_is_flying(!
ap.land_complete);
462 bool gps_updated =
false;
479 #if CAMERA == ENABLED 508 if (
ap.simple_mode == 0 || !
ap.new_radio_frame) {
513 ap.new_radio_frame =
false;
515 if (
ap.simple_mode == 1) {
535 if (
ap.simple_mode != 2) {
560 #if HIL_MODE != HIL_MODE_DISABLED
void read_barometer(void)
#define DATA_INIT_SIMPLE_BEARING
static void set_layout_copter(void)
#define MASK_LOG_ATTITUDE_FAST
AC_AttitudeControl_t * attitude_control
void Log_Write_Control_Tuning()
void update_flight_mode()
void read_control_switch()
#define SUPER_SIMPLE_RADIUS
uint8_t num_sensors(void) const
void update_land_and_crash_detectors()
auto wrap_360_cd(const T angle) -> decltype(wrap_360(angle, 100.f))
RC_Channel * channel_roll
void update_simple_mode(void)
void twentyfive_hz_logging()
static const AP_Scheduler::Task scheduler_tasks[]
void init(const Task *tasks, uint8_t num_tasks, uint32_t log_performance_bit)
void Log_Write_Beacon(AP_Beacon &beacon)
void update_home_from_EKF()
void Log_Write_Proximity(AP_Proximity &proximity)
void update_throttle_thr_mix()
uint32_t last_message_time_ms(uint8_t instance) const
float get_last_loop_time_s(void) const
void heli_update_landing_swash()
#define AP_HAL_MAIN_CALLBACKS(CALLBACKS)
bool should_log(uint32_t mask)
void Log_Write_Precland()
void set_control_in(int16_t val)
void set_throttle(float thr_pct)
int32_t super_simple_last_bearing
void send_message(enum ap_message id)
RC_Channel * channel_throttle
void update_ground_effect_detector(void)
void ten_hz_logging_loop()
void Log_Write_RSSI(AP_RSSI &rssi)
int16_t get_control_in() const
#define GPS_MAX_INSTANCES
void Log_Write_Compass(const Compass &compass, uint64_t time_us=0)
RC_Channel * channel_pitch
#define SCHED_TASK(func, rate_hz, max_time_micros)
void update_using_interlock()
void Log_Write_Attitude()
void update_sensor_status_flags(void)
void update(bool skip_ins_update=false) override
void failsafe_gcs_check()
#define MASK_LOG_ATTITUDE_MED
void init_simple_bearing()
#define SCHED_TASK_CLASS(classname, classptr, func, _rate_hz, _max_time_micros)
void Log_Write_RCOUT(void)
static void enable_aux_servos(void)
bool have_ekf_logging(void) const override
void failsafe_terrain_check()
DataFlash_Class DataFlash
static constexpr int8_t _failsafe_priorities[]
void fourhundred_hz_logging()
void update_super_simple_bearing(bool force_update)
void set_voltage(float voltage)
AP_HAL_MAIN_CALLBACKS & copter
void gcs_check_input(void)
void update_batt_compass(void)
int16_t get_radio_min() const
int16_t get_radio_max() const
void update_heli_control_dynamics(void)
AC_PosControl * pos_control
float super_simple_sin_yaw
float super_simple_cos_yaw
virtual bool requires_GPS() const =0
#define MASK_LOG_IMU_FAST
void heli_update_rotor_speed_targets()
void Log_Write_Vibration()
float voltage(uint8_t instance) const
void set_system_time_from_GPS()
void Log_Write_RCIN(void)
void Log_Write_Data(uint8_t id, int32_t value)
static void setup_sketch_defaults(void)