/** ****************************************************************************** * @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); } /** * @} * @} */