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LibrePilot/flight/modules/ManualControl/manualhandler.c

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2014-03-02 14:45:17 +01:00
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup ManualControl
* @brief Interpretes the control input in ManualControlCommand
* @{
*
* @file manualhandler.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
*
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "inc/manualcontrol.h"
#include <manualcontrolcommand.h>
#include <actuatordesired.h>
// Private constants
// Private types
// Private functions
/**
* @brief Handler to control Manual flightmode - input directly steers actuators
* @input: ManualControlCommand
* @output: ActuatorDesired
*/
void manualHandler(bool newinit)
{
if (newinit) {
ActuatorDesiredInitialize();
}
ManualControlCommandData cmd;
ManualControlCommandGet(&cmd);
ActuatorDesiredData actuator;
ActuatorDesiredGet(&actuator);
actuator.Roll = cmd.Roll;
actuator.Pitch = cmd.Pitch;
actuator.Yaw = cmd.Yaw;
actuator.Thrust = cmd.Thrust;
ActuatorDesiredSet(&actuator);
}
/**
* @}
* @}
*/