flight/modules/ManualControl/manualhandler.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup ManualControl
   6  * @brief Interpretes the control input in ManualControlCommand
   7  * @{
   8  *
   9  * @file       manualhandler.c
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
  11  *
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  ******************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 #include "inc/manualcontrol.h"
  32 #include <manualcontrolcommand.h>
  33 #include <actuatordesired.h>
  34
  35 // Private constants
  36
  37 // Private types
  38
  39 // Private functions
  40
  41
  42 /**
  43  * @brief Handler to control Manual flightmode - input directly steers actuators
  44  * @input: ManualControlCommand
  45  * @output: ActuatorDesired
  46  */
  47 void manualHandler(bool newinit)
  48 {
  49     if (newinit) {
  50         ActuatorDesiredInitialize();
  51     }
  52
  53     ManualControlCommandData cmd;
  54     ManualControlCommandGet(&cmd);
  55
  56     ActuatorDesiredData actuator;
  57     ActuatorDesiredGet(&actuator);
  58
  59     actuator.Roll   = cmd.Roll;
  60     actuator.Pitch  = cmd.Pitch;
  61     actuator.Yaw    = cmd.Yaw;
  62     actuator.Thrust = cmd.Thrust;
  63
  64     ActuatorDesiredSet(&actuator);
  65 }
  66
  67
  68 /**
  69  * @}
  70  * @}
  71  */