Flight core: arming, modes, automatic actions, failsafes, motor test (HANDOVER_FW.md §6, §7, §10.7). More...

#include <stdint.h>

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Data Structures
struct	fc_cmd_t

struct	fc_res_t

struct	fc_event_t

struct	fc_batt_sig_t
	battery signal (BattTask -> core): sent when the level or presence changes More...

struct	fc_config_t

struct	fc_state_t
	published state (AppTask builds FLIGHT / MOTORS from it) More...

struct	fc_vert_t
	vertical state from the estimator (flight-control context) More...

struct	fc_setpoint_t
	setpoints for the attitude / rate loops (phase 3) and the motor mixer More...

Macros
#define	FC_RC_STALE_MS 250u
	stop using the last RC values

#define	FC_FS_SHORT_MS 1000u
	fsAppShort

#define	FC_FS_LONG_MS 3000u
	fsAppLong + EVENT 20

#define	FC_LINK_BACK_MS 500u
	link considered back

#define	FC_GROUND_DISARM_MS 3000u
	armed on the ground, app silent

#define	FC_ARM_RC_FRESH_MS 500u
	throttle rule applies to RC this recent

#define	FC_NO_TAKEOFF_MS 10000u
	auto-disarm if not taken off

#define	FC_STICK_CANCEL 300
	30 % of the stick

#define	FC_TAKEOFF_VZ 0.6f
	m/s, climb during TAKEOFF

#define	FC_LIFTOFF_DH 0.15f
	m above the ground level = airborne

#define	FC_LIFTOFF_TIMEOUT_MS 6000u
	no lift-off -> TAKEOFF aborted

#define	FC_LAND_SLOW_VZ 0.3f
	m/s below 1 m with ToF

#define	FC_TOUCH_VZ 0.12f
	\|vz\| below this ...

#define	FC_TOUCH_MS 700u
	... for this long (descent commanded)

#define	FC_TOUCH_MS_NO_TOF 1000u

#define	FC_FLOW_LOST_Q 30u
	flow quality below this ...

#define	FC_FLOW_BACK_Q 40u

#define	FC_FLOW_LOST_MS 500u

#define	FC_FLOW_CHECK_H

#define	FC_BATT_STALE_MS 1000u
	no BattTask heartbeat: battery unknown

#define	FC_OP_MOTOR_STOP 0xF0u
	stop a running motor test

Functions
void	fc_init (const fc_config_t *cfg)

void	fc_set_sensors (uint16_t sensors)
	sensors detected at run time (a late expansion board): atomic store

void	fc_service (uint32_t now_ms, uint8_t est_running, const fc_vert_t *v)
	v: NULL = no vertical estimate (in air only via g_fc_dbg_in_air)

void	fc_setpoint (fc_setpoint_t *out)
	last setpoints, same context

int	fc_batt_signal (const fc_batt_sig_t *s)
	0 = queued, -1 = full

void	fc_batt_heartbeat (uint32_t now_ms)
	every BattTask step

int	fc_post (const fc_cmd_t *c)
	0 = queued, -1 = full

int	fc_take_result (fc_res_t *r)
	1 if a result was taken

int	fc_take_event (fc_event_t *e)

void	fc_snapshot (fc_state_t *out)

void	fc_set_ground_info (uint8_t checks_ready, uint8_t battery_fail, uint8_t calibrating)
	ground information computed by the AppTask (atomic byte stores)

uint8_t	fc_is_core_op (uint8_t op)
	ops executed by the core

Variables
volatile uint8_t	g_fc_dbg_in_air

Detailed Description

Flight core: arming, modes, automatic actions, failsafes, motor test (HANDOVER_FW.md §6, §7, §10.7).

Runs ONLY in the flight-control context: fc_service() is called by the ImuTask, the loop that runs the estimator and the attitude controller (>= 50 Hz, about 250 Hz here). The flight state has a single owner and no lock: the AppTask talks to it through lock-free single-producer single-consumer queues AppTask -> core commands (fc_post) core -> AppTask ACK results (fc_take_result) core -> AppTask events (fc_take_event) core -> AppTask state (fc_snapshot, sequence counter) and reads the app link only through app_link.h (an atomic timestamp and the RC seqlock). Nothing here waits on BLE: if the BLE stack, the CPU2, the radio or the AppTask stall, the app-link silence grows and the failsafe fires on time.

Host-testable: no HAL, no RTOS (time is passed in, outputs via hooks).

Definition in file fc_core.h.

Macro Definition Documentation

◆ FC_RC_STALE_MS

#define FC_RC_STALE_MS 250u

stop using the last RC values

Definition at line 28 of file fc_core.h.

◆ FC_FS_SHORT_MS

#define FC_FS_SHORT_MS 1000u

fsAppShort

Definition at line 29 of file fc_core.h.

◆ FC_FS_LONG_MS

#define FC_FS_LONG_MS 3000u

fsAppLong + EVENT 20

Definition at line 30 of file fc_core.h.

◆ FC_LINK_BACK_MS

#define FC_LINK_BACK_MS 500u

link considered back

Definition at line 31 of file fc_core.h.

◆ FC_GROUND_DISARM_MS

#define FC_GROUND_DISARM_MS 3000u

armed on the ground, app silent

Definition at line 32 of file fc_core.h.

◆ FC_ARM_RC_FRESH_MS

#define FC_ARM_RC_FRESH_MS 500u

throttle rule applies to RC this recent

Definition at line 33 of file fc_core.h.

◆ FC_NO_TAKEOFF_MS

#define FC_NO_TAKEOFF_MS 10000u

auto-disarm if not taken off

Definition at line 34 of file fc_core.h.

◆ FC_STICK_CANCEL

#define FC_STICK_CANCEL 300

30 % of the stick

Definition at line 35 of file fc_core.h.

◆ FC_TAKEOFF_VZ

#define FC_TAKEOFF_VZ 0.6f

m/s, climb during TAKEOFF

Definition at line 37 of file fc_core.h.

◆ FC_LIFTOFF_DH

#define FC_LIFTOFF_DH 0.15f

m above the ground level = airborne

Definition at line 38 of file fc_core.h.

◆ FC_LIFTOFF_TIMEOUT_MS

#define FC_LIFTOFF_TIMEOUT_MS 6000u

no lift-off -> TAKEOFF aborted

Definition at line 39 of file fc_core.h.

◆ FC_LAND_SLOW_VZ

#define FC_LAND_SLOW_VZ 0.3f

m/s below 1 m with ToF

Definition at line 40 of file fc_core.h.

◆ FC_TOUCH_VZ

#define FC_TOUCH_VZ 0.12f

|vz| below this ...

Definition at line 41 of file fc_core.h.

◆ FC_TOUCH_MS

#define FC_TOUCH_MS 700u

... for this long (descent commanded)

Definition at line 42 of file fc_core.h.

◆ FC_TOUCH_MS_NO_TOF

#define FC_TOUCH_MS_NO_TOF 1000u

Definition at line 43 of file fc_core.h.

◆ FC_FLOW_LOST_Q

#define FC_FLOW_LOST_Q 30u

flow quality below this ...

Definition at line 44 of file fc_core.h.

◆ FC_FLOW_BACK_Q

#define FC_FLOW_BACK_Q 40u

Definition at line 45 of file fc_core.h.

◆ FC_FLOW_LOST_MS

#define FC_FLOW_LOST_MS 500u

Definition at line 46 of file fc_core.h.

◆ FC_FLOW_CHECK_H

#define FC_FLOW_CHECK_H

Value:

0.15f /* m: FLOW_LOST is judged only above this height,

never on the ground, in TAKEOFF or LAND */

Definition at line 47 of file fc_core.h.

◆ FC_BATT_STALE_MS

#define FC_BATT_STALE_MS 1000u

no BattTask heartbeat: battery unknown

Definition at line 50 of file fc_core.h.

◆ FC_OP_MOTOR_STOP

#define FC_OP_MOTOR_STOP 0xF0u

stop a running motor test

Definition at line 53 of file fc_core.h.

Function Documentation

◆ fc_init()

void fc_init ( const fc_config_t * cfg )

Definition at line 71 of file fc_core.c.

References alt_ctrl_init(), fc_config_t::batt_monitor, g_fc_dbg_in_air, fc_config_t::n_motors, PV2_BATT_OK, PV2_MODE_ANGLE, s_ac, s_armed, s_auto, s_batt_fail, s_batt_have_hb, s_batt_hb_set, s_batt_level, s_batt_lock, s_batt_present, s_batt_stale, s_calibrating, s_cfg, s_checks_ready, s_dbg_forced, s_failsafe, s_flight_ms, s_flow_bad_ms, s_fs_long, s_fs_short_hold, s_geofence, s_geofence_ev, s_have_last, s_have_rc, s_have_v, s_in_air, s_landed, s_mode, s_sensors, s_sp, s_test_motor, s_took_off, s_touch_ms, fc_config_t::sensors, and spsc_reset().

Referenced by app_start().

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◆ fc_set_sensors()

void fc_set_sensors ( uint16_t sensors )

sensors detected at run time (a late expansion board): atomic store

Definition at line 97 of file fc_core.c.

References s_sensors.

Referenced by app_init(), and app_step().

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◆ fc_service()

void fc_service	(	uint32_t	now_ms,
		uint8_t	est_running,
		const fc_vert_t *	v
	)

v: NULL = no vertical estimate (in air only via g_fc_dbg_in_air)

Definition at line 699 of file fc_core.c.

References air_ground(), app_link_failsafe(), battery(), disarm(), exec(), FC_FS_SHORT_MS, FC_LINK_BACK_MS, FC_NO_TAKEOFF_MS, FC_STICK_CANCEL, flow_failsafe(), fc_vert_t::flow_q, P_AUTO_DISARM, P_RTH_STICK_CANCEL, PARAM, appl_rc_t::pitch, publish(), PV2_AUTO_HOLD, PV2_AUTO_NONE, PV2_AUTO_RTH, PV2_FS_APP_LINK, appl_rc_t::roll, s_arm_ms, s_armed, s_auto, s_failsafe, s_flight_ms, s_have_last, s_have_v, s_in_air, s_landed_ms, s_last_ms, s_rc, s_rc_stale, s_silence, s_test_motor, s_test_until, s_took_off, s_v, setpoints(), spsc_pop(), stick_moved(), test_stop(), update_sticks(), and fc_vert_t::valid.

Referenced by flight_service(), and ImuTask().

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◆ fc_setpoint()

void fc_setpoint ( fc_setpoint_t * out )

last setpoints, same context

Definition at line 98 of file fc_core.c.

References s_sp.

Referenced by flight_service().

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◆ fc_batt_signal()

int fc_batt_signal ( const fc_batt_sig_t * s )

0 = queued, -1 = full

Definition at line 94 of file fc_core.c.

References b, and spsc_push().

Referenced by batt_task_step().

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◆ fc_batt_heartbeat()

void fc_batt_heartbeat ( uint32_t now_ms )

every BattTask step

Definition at line 95 of file fc_core.c.

References s_batt_hb_ms, s_batt_hb_set, and SPSC_BARRIER.

Referenced by batt_task_step().

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◆ fc_post()

int fc_post ( const fc_cmd_t * c )

0 = queued, -1 = full

Definition at line 112 of file fc_core.c.

References spsc_push().

Referenced by commands().

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◆ fc_take_result()

int fc_take_result ( fc_res_t * r )

1 if a result was taken

Definition at line 113 of file fc_core.c.

References spsc_pop().

Referenced by commands().

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◆ fc_take_event()

int fc_take_event ( fc_event_t * e )

Definition at line 114 of file fc_core.c.

References spsc_pop().

Referenced by events().

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◆ fc_snapshot()

void fc_snapshot ( fc_state_t * out )

Definition at line 121 of file fc_core.c.

References s_snap, s_snap_seq, and SPSC_BARRIER.

Referenced by armed_now(), batt_task_step(), build_checks(), log_records(), log_task_step(), send_flight(), and send_motors().

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◆ fc_set_ground_info()

void fc_set_ground_info	(	uint8_t	checks_ready,
		uint8_t	battery_fail,
		uint8_t	calibrating
	)

ground information computed by the AppTask (atomic byte stores)

Definition at line 116 of file fc_core.c.

References s_batt_fail, s_calibrating, and s_checks_ready.

Referenced by app_step().

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◆ fc_is_core_op()

uint8_t fc_is_core_op ( uint8_t op )

ops executed by the core

Definition at line 100 of file fc_core.c.

References FC_OP_MOTOR_STOP, PV2_OP_ARM, PV2_OP_DISARM, PV2_OP_HOLD, PV2_OP_KILL, PV2_OP_LAND, PV2_OP_MOTOR_TEST, PV2_OP_RTH, PV2_OP_SET_MODE, and PV2_OP_TAKEOFF.

Referenced by commands().

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Variable Documentation

◆ g_fc_dbg_in_air

volatile uint8_t g_fc_dbg_in_air

extern

Definition at line 17 of file fc_core.c.

Referenced by air_ground(), and fc_init().

Data Structures

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ FC_RC_STALE_MS

◆ FC_FS_SHORT_MS

◆ FC_FS_LONG_MS

◆ FC_LINK_BACK_MS

◆ FC_GROUND_DISARM_MS

◆ FC_ARM_RC_FRESH_MS

◆ FC_NO_TAKEOFF_MS

◆ FC_STICK_CANCEL

◆ FC_TAKEOFF_VZ

◆ FC_LIFTOFF_DH

◆ FC_LIFTOFF_TIMEOUT_MS

◆ FC_LAND_SLOW_VZ

◆ FC_TOUCH_VZ

◆ FC_TOUCH_MS

◆ FC_TOUCH_MS_NO_TOF

◆ FC_FLOW_LOST_Q

◆ FC_FLOW_BACK_Q

◆ FC_FLOW_LOST_MS

◆ FC_FLOW_CHECK_H

◆ FC_BATT_STALE_MS

◆ FC_OP_MOTOR_STOP

Function Documentation

◆ fc_init()

◆ fc_set_sensors()

◆ fc_service()

◆ fc_setpoint()

◆ fc_batt_signal()

◆ fc_batt_heartbeat()

◆ fc_post()

◆ fc_take_result()

◆ fc_take_event()

◆ fc_snapshot()

◆ fc_set_ground_info()

◆ fc_is_core_op()

Variable Documentation

◆ g_fc_dbg_in_air