Angle of Attack sensor using T4 Actuators Board and a modified serial bus servo added wind vane. More...

#include "modules/sensors/aoa_t4.h"
#include "generated/airframe.h"
#include "modules/core/abi.h"
#include "state.h"
#include "std.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "filters/low_pass_filter.h"
#include "modules/datalink/telemetry.h"

Include dependency graph for aoa_t4.c:

Go to the source code of this file.

Macros
#define	AOA_ANGLE_OFFSET M_PI
	Default offset value (assuming 0 AOA is in the middle of the range)

#define	AOA_T4_OFFSET 0.0f
	Small offset value in radians to get the sensor perfectly lined out.

#define	AOA_T4_USE_FILTER FALSE
	Use lowpass filter for AOA.

#define	AOA_T4_FILTER 0.15f
	Default filter value for reasonable minimum filtering.

#define	AOA_T4_SIGN 1
	To set reverse direction on readings use true.

#define	AOA_T4_SYNC_SEND FALSE

#define	AOA_T4_FILTER_SAMPLING_TIME 0.0005

#define	AOA_T4_USE_COMPENSATION FALSE
	Enable A1 A2 to Theta compensation for AOA sensor angle.

#define	AOA_T4_COMP_A1 0.0f

#define	AOA_T4_COMP_B1 0.0f

#define	AOA_T4_COMP_A2 -0.5457f

#define	AOA_T4_COMP_B2 0.0f

#define	SSA_ANGLE_OFFSET M_PI
	Default offset value (assuming 0 SSA is in the middle of the range)

#define	SSA_T4_OFFSET 0.0f
	Small offset value in radians to get the sensor perfectly lined out.

#define	SSA_T4_USE_FILTER FALSE
	Use lowpass filter for SSA.

#define	SSA_T4_FILTER 0.20f

#define	SSA_T4_SIGN 1

Functions
static void	send_aoa (struct transport_tx trans, struct link_device dev)

uint32_t	convert_angle_x100_to_raw (int16_t angle)

static void	actuators_t4_abi_in (uint8_t sender_id, struct ActuatorsT4In actuators_t4_in_ptr, float actuators_t4_extra_data_in_ptr)

void	aoa_t4_init_filters (void)

void	ssa_t4_init_filters (void)

void	aoa_t4_init (void)

void	aoa_t4_update (void)

Variables
Butterworth2LowPass	aoa_t4_lowpass_filter
	Servo ID to use for the modified servo as AOA sensor.

struct Aoa_T4	aoa_t4

Butterworth2LowPass	ssa_t4_lowpass_filter

struct Aoa_T4	ssa_t4

struct ActuatorsT4In	actuators_t4_in_local

static abi_event	ACTUATORS_T4_IN

struct FloatEulers	eulers_t4

float	aoa_t4_a1 = AOA_T4_COMP_A1

float	aoa_t4_b1 = AOA_T4_COMP_B1

float	aoa_t4_a2 = AOA_T4_COMP_A2

float	aoa_t4_b2 = AOA_T4_COMP_B2

enum Aoa_Type	aoa_send_type

Detailed Description

Angle of Attack sensor using T4 Actuators Board and a modified serial bus servo added wind vane.

The SBS must be of hall effect type to minimize friction.

Author: : Sunyou Hwang, OpenUAS

Definition in file aoa_t4.c.

Macro Definition Documentation

◆ AOA_ANGLE_OFFSET

#define AOA_ANGLE_OFFSET M_PI

Default offset value (assuming 0 AOA is in the middle of the range)

Definition at line 41 of file aoa_t4.c.

◆ AOA_T4_COMP_A1

#define AOA_T4_COMP_A1 0.0f

Definition at line 98 of file aoa_t4.c.

◆ AOA_T4_COMP_A2

#define AOA_T4_COMP_A2 -0.5457f

Definition at line 106 of file aoa_t4.c.

◆ AOA_T4_COMP_B1

#define AOA_T4_COMP_B1 0.0f

Definition at line 102 of file aoa_t4.c.

◆ AOA_T4_COMP_B2

#define AOA_T4_COMP_B2 0.0f

Definition at line 110 of file aoa_t4.c.

◆ AOA_T4_FILTER

#define AOA_T4_FILTER 0.15f

Default filter value for reasonable minimum filtering.

Time constant for second order Butterworth low pass filter Default of 0.15 should give cut-off freq of 1/(2*pi*tau) ~= 1Hz (0.01->15.9 / 0.05->3.2 / 0.1->1.59 / 0.2->0.79 / 0.3->0.53)

Definition at line 60 of file aoa_t4.c.