46 #if STATS_ENABLED == ENABLED 69 BoardConfig_CAN.init();
73 #if GRIPPER_ENABLED == ENABLED 94 ap.usb_connected =
true;
100 #if FRSKY_TELEM_ENABLED == ENABLED 102 char firmware_buf[50];
109 #if DEVO_TELEM_ENABLED == ENABLED 114 #if LOGGING_ENABLED == ENABLED 121 #if FRAME_CONFIG == HELI_FRAME 125 #if FRAME_CONFIG == HELI_FRAME 141 ap.initialised_params =
true;
154 #if BEACON_ENABLED == ENABLED 165 #if OPTFLOW == ENABLED 172 #if AP_TERRAIN_AVAILABLE && AC_TERRAIN 176 #if AC_AVOID_ENABLED == ENABLED 192 #if PRECISION_LANDING == ENABLED 204 #if HIL_MODE != HIL_MODE_DISABLED 208 gcs().
send_text(MAV_SEVERITY_WARNING,
"Waiting for first HIL_STATE message");
227 #if BEACON_ENABLED == ENABLED 235 #if RPM_ENABLED == ENABLED 240 #if MODE_AUTO_ENABLED == ENABLED 245 #if MODE_SMARTRTL_ENABLED == ENABLED 251 #if MODE_AUTO_ENABLED == ENABLED 286 copter.ap.rc_override_enable =
true;
291 ap.initialised =
true;
346 #if OPTFLOW != ENABLED && VISUAL_ODOMETRY_ENABLED != ENABLED 356 #if OPTFLOW == ENABLED 361 #if VISUAL_ODOMETRY_ENABLED == ENABLED 396 #if FRAME_CONFIG == HELI_FRAME 399 if(
ap.land_complete && !
motors->rotor_runup_complete()) {
406 #if FRAME_CONFIG == HELI_FRAME 408 if(
motors->armed() && !
ap.throttle_zero &&
motors->rotor_runup_complete()) {
424 if (usb_check ==
ap.usb_connected) {
429 ap.usb_connected = usb_check;
437 #if LOGGING_ENABLED == ENABLED 461 return MAV_TYPE_QUADROTOR;
464 return MAV_TYPE_HEXAROTOR;
467 return MAV_TYPE_OCTOROTOR;
471 return MAV_TYPE_HELICOPTER;
473 return MAV_TYPE_TRICOPTER;
477 return MAV_TYPE_COAXIAL;
479 return MAV_TYPE_DODECAROTOR;
482 return MAV_TYPE_GENERIC;
514 return "DODECA_HEXA";
527 #if FRAME_CONFIG != HELI_FRAME 555 #else // FRAME_CONFIG == HELI_FRAME 582 if (ahrs_view ==
nullptr) {
588 #if FRAME_CONFIG != HELI_FRAME 618 #if MODE_CIRCLE_ENABLED == ENABLED 653 #if FRAME_CONFIG == HELI_FRAME
virtual uint32_t available_memory(void)
AP_DEVO_Telem devo_telemetry
AP_BoardConfig BoardConfig
void set_dataflash(DataFlash_Class *dataflash)
static void convert_parent_class(uint8_t param_key, void *object_pointer, const struct AP_Param::GroupInfo *group_info)
static void upgrade_motors_servo(uint8_t ap_motors_key, uint8_t ap_motors_idx, uint8_t new_channel)
void set_auto_armed(bool b)
AC_AttitudeControl_t * attitude_control
static void load_object_from_eeprom(const void *object_pointer, const struct GroupInfo *group_info)
static const struct AP_Param::GroupInfo var_info[]
virtual void setup_uarts(AP_SerialManager &serial_manager)
bool upgrading_frame_params
void init(const AP_SerialManager &serial_manager)
void set_land_complete_maybe(bool b)
bool have_inertial_nav() const override
AP_VisualOdom visual_odom
static const struct AP_Param::GroupInfo var_info[]
AP_HAL::UARTDriver * console
void convert_pid_parameters(void)
uint16_t get_loop_rate_hz(void)
void set_channel_mask(uint16_t _mask)
bool logging_started(void)
void init_rangefinder(void)
void notify_flight_mode()
bool should_log(uint32_t mask) const
float get_loop_period_s()
virtual void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms)
AP_Frsky_Telem frsky_telemetry
void set_log_baro_bit(uint32_t bit)
virtual bool usb_connected(void)=0
static const struct AP_Param::GroupInfo var_info[]
bool should_log(uint32_t mask)
AP_InertialNav_NavEKF inertial_nav
bool optflow_position_ok()
AP_AHRS_View * create_view(enum Rotation rotation)
void Log_Write_Vehicle_Startup_Messages()
bool rc_calibration_checks(bool display_failure) override
AP_LandingGear landinggear
static const struct AP_Param::GroupInfo var_info[]
AP_SerialManager serial_manager
void set_avoidance(AC_Avoid *avoid_ptr)
static void set_terrain(AP_Terrain *terrain)
#define FUNCTOR_BIND(obj, func, rettype,...)
void calibrate(bool save=true)
static void set_ahrs(const AP_AHRS_NavEKF *ahrs)
void init(const AP_SerialManager &serial_manager)
virtual void printf(const char *,...) FMT_PRINTF(2
nav_filter_status get_filter_status() const
void reset_control_switch()
void init_capabilities(void)
void allocate_motors(void)
void init(bool enable_external_leds)
static const struct AP_Param::GroupInfo var_info[]
static const struct AP_Param::GroupInfo var_info[]
void load_parameters(void)
const char * get_frame_string()
void reset(bool recover_eulers=false) override
void set_mission(const AP_Mission *mission)
void init(const AP_SerialManager &serial_manager)
void update_using_interlock()
mavlink_system_t mavlink_system
MAV_TYPE get_frame_mav_type()
void set_vehicle_class(AHRS_VehicleClass vclass)
void setup_uart(const AP_SerialManager &serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance)
void set_dt(float delta_sec)
GCS_MAVLINK_Copter & chan(const uint8_t ofs) override
static const AP_FWVersion fwver
void set_optflow(const OpticalFlow *optflow)
static void set_frame_type_flags(uint16_t flags_to_set)
void send_text(MAV_SEVERITY severity, const char *fmt,...)
void setVehicle_Startup_Log_Writer(vehicle_startup_message_Log_Writer writer)
static void mavlink_delay_cb_static()
void set_log_gps_bit(uint32_t bit)
void set_land_complete(bool b)
static const struct AP_Param::GroupInfo var_info[]
DataFlash_Class DataFlash
struct nav_filter_status::@138 flags
virtual void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us)=0
static void reload_defaults_file(bool panic_on_error=true)
AP_ServoRelayEvents ServoRelayEvents
static const struct AP_Param::GroupInfo var_info[]
void set_avoidance(AC_Avoid *avoid_ptr)
void init(uint16_t sample_rate_hz)
AP_HAL_MAIN_CALLBACKS & copter
struct Copter::@2 failsafe
AC_PosControl * pos_control
void set_beacon(AP_Beacon *beacon)
int snprintf(char *str, size_t size, const char *fmt,...)
static const struct AP_Param::GroupInfo var_info[]
virtual bool has_manual_throttle() const =0
static void convert_old_parameter(const struct ConversionInfo *info, float scaler, uint8_t flags=0)
void set_log_raw_bit(uint32_t log_raw_bit)
static void failsafe_check_static()
void set_blocking_writes_all(bool blocking)
void startup_INS_ground()
void panic(const char *errormsg,...) FMT_PRINTF(1
void set_default_frame_class()
void set_terrain(AP_Terrain *terrain_ptr)
control_mode_t control_mode
#define AP_PARAM_FRAME_TRICOPTER
void init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, const uint32_t *ap_valuep=nullptr)
void enable_motor_output()
uint32_t get_last_update(void) const
#define AP_PARAM_FRAME_HELI
AP_Vehicle::MultiCopter aparm
AP_HAL::Scheduler * scheduler
static void convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size, uint8_t flags=0)
static const struct AP_Param::GroupInfo var_info[]
const struct AP_Param::GroupInfo * motors_var_info