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🤔 Problem Statement

In the Zero-Pilot Architecture, System Manager is the highest level entity. System Manager parses controller inputs, overlooks and orchestrates the conversations between other managers, and manages the state of the drone.

Milestone 1 Implementation

For Milestone 1, System Manager is a simple class that has a manual flying mode. Here is a list of available functions with the System Manager class for Milestone 1.

Function Name

Purpose

Return Type

Public Functions

fly_manually

Puts device in manual control mode, gets data using SBUS, and executes commands on the motors using PWM Out driver.

None. Void Function.

Private Functions

set_control_mode

Sets the control method of the device. Mainly for state-keeping. In the future, it will notify AM about this change.

None. Void Function.

set_arm_mode

Sets the arm mode of the device. Mainly for state-keeping. In the future, it will notify AM about this change.

None. Void Function.

set_flight_mode

Sets the flight mode of the device. Mainly for state-keeping. In the future, it will notify AM about this change.

None. Void Function.

get_control_mode

Returns the current control mode on the device.

CONTROL_METHOD alias for int

get_arm_mode

Returns the current arm status on the device.

ARM_MODE alias for int

get_flight_mode

Returns the current flight mode set on device.

FLIGHT_MODE alias for int

execute_input

Executes passed data on the motors

None. Void Function.

Milestone 2 Implementation

More to come (smile)

Reference Material

Link to previous SysManager https://github.com/UWARG/ZeroPilot-SW-3/tree/main/SystemManager

Link to a simple SysManager https://github.com/UWARG/SimpleSystemManager/blob/master/Core/Src/main.cpp

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