control_mixing_heewing.h File Reference

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Macros
#define	CMH_ACT_MOTOR_RIGHT   0
#define	CMH_ACT_MOTOR_LEFT   1
#define	CMH_ACT_MOTOR_TAIL   2
#define	CMH_ACT_YAW   3

Functions
void	control_mixing_heewing_init (void)
void	control_mixing_heewing_manual (void)
	Direct manual control in plane style flight.
void	control_mixing_heewing_attitude_direct (void)
	Stabilization in attitude direct mode.
void	control_mixing_heewing_attitude_direct_enter (void)
void	control_mixing_heewing_attitude_plane (void)
void	control_mixing_heewing_attitude_plane_enter (void)
void	control_mixing_heewing_nav_enter (void)
void	control_mixing_heewing_nav_run (void)

Detailed Description

Author

Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r Control mixing specific to the Heewing T1 Ranger

Definition in file control_mixing_heewing.h.

Macro Definition Documentation

CMH_ACT_MOTOR_LEFT

#define CMH_ACT_MOTOR_LEFT   1

Definition at line 31 of file control_mixing_heewing.h.

CMH_ACT_MOTOR_RIGHT

#define CMH_ACT_MOTOR_RIGHT   0

Definition at line 30 of file control_mixing_heewing.h.

CMH_ACT_MOTOR_TAIL

#define CMH_ACT_MOTOR_TAIL   2

Definition at line 32 of file control_mixing_heewing.h.

CMH_ACT_YAW

#define CMH_ACT_YAW   3

Definition at line 33 of file control_mixing_heewing.h.

Function Documentation

control_mixing_heewing_attitude_direct()

void control_mixing_heewing_attitude_direct ( void  )

extern

Stabilization in attitude direct mode.

Definition at line 117 of file control_mixing_heewing.c.

References autopilot, autopilot_get_motors_on(), autopilot_in_flight(), Stabilization::cmd, CMH_ACT_MOTOR_LEFT, CMH_ACT_MOTOR_RIGHT, CMH_ACT_MOTOR_TAIL, CMH_ACT_YAW, CMH_TILT_VERTICAL, commands, foo, guidance_v_run(), MAX_PPRZ, Stabilization::rc_sp, stabilization, stabilization_run(), pprz_autopilot::throttle, transition_run(), and TRANSITION_TO_HOVER.

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control_mixing_heewing_attitude_direct_enter()

void control_mixing_heewing_attitude_direct_enter ( void  )

extern

Definition at line 145 of file control_mixing_heewing.c.

References guidance_h_mode_changed(), GUIDANCE_H_MODE_NONE, guidance_v_mode_changed(), GUIDANCE_V_MODE_RC_DIRECT, STABILIZATION_ATT_SUBMODE_HEADING, STABILIZATION_MODE_ATTITUDE, stabilization_mode_changed(), and STABILIZATION_MODE_NONE.

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control_mixing_heewing_attitude_plane()

void control_mixing_heewing_attitude_plane ( void  )

extern

Definition at line 182 of file control_mixing_heewing.c.

References autopilot, autopilot_in_flight(), Stabilization::cmd, CMH_ACT_MOTOR_LEFT, CMH_ACT_MOTOR_RIGHT, CMH_ACT_MOTOR_TAIL, CMH_TILT_FORWARD, CMH_TILT_VERTICAL, command_from_transition(), commands, foo, guidance_v_run(), MAX_PPRZ, FloatEulers::phi, radio_control_get(), RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, Stabilization::rc_sp, stab_sp_from_eulers_f(), stabilization, stabilization_attitude_plane_pid_run(), stabilization_run(), th_sp_from_thrust_i(), pprz_autopilot::throttle, THRUST_AXIS_X, transition_ratio, transition_run(), and TRANSITION_TO_FORWARD.

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control_mixing_heewing_attitude_plane_enter()

void control_mixing_heewing_attitude_plane_enter ( void  )

extern

Definition at line 173 of file control_mixing_heewing.c.

References guidance_h_mode_changed(), GUIDANCE_H_MODE_NONE, guidance_v_mode_changed(), GUIDANCE_V_MODE_RC_DIRECT, STABILIZATION_ATT_SUBMODE_HEADING, stabilization_attitude_plane_pid_enter(), STABILIZATION_MODE_ATTITUDE, and stabilization_mode_changed().

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control_mixing_heewing_init()

void control_mixing_heewing_init ( void  )

extern

Definition at line 98 of file control_mixing_heewing.c.

References transition_ratio.

control_mixing_heewing_manual()

void control_mixing_heewing_manual ( void  )

extern

Direct manual control in plane style flight.

Definition at line 103 of file control_mixing_heewing.c.

References autopilot, CMH_TILT_FORWARD, commands, foo, MIN_PPRZ, radio_control_get(), RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, pprz_autopilot::throttle, transition_run(), and TRANSITION_TO_FORWARD.

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control_mixing_heewing_nav_enter()

void control_mixing_heewing_nav_enter ( void  )

extern

Definition at line 225 of file control_mixing_heewing.c.

References guidance_h_mode_changed(), GUIDANCE_H_MODE_NAV, guidance_v_mode_changed(), GUIDANCE_V_MODE_NAV, STABILIZATION_ATT_SUBMODE_HEADING, STABILIZATION_MODE_ATTITUDE, and stabilization_mode_changed().

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control_mixing_heewing_nav_run()

void control_mixing_heewing_nav_run ( void  )

extern

Definition at line 232 of file control_mixing_heewing.c.

References autopilot, autopilot_get_motors_on(), autopilot_in_flight(), Stabilization::cmd, CMH_ACT_MOTOR_LEFT, CMH_ACT_MOTOR_RIGHT, CMH_ACT_MOTOR_TAIL, CMH_ACT_YAW, CMH_TILT_FORWARD, CMH_TILT_VERTICAL, command_from_transition(), commands, foo, guidance_h_run(), guidance_plane, guidance_plane_attitude_from_nav(), guidance_plane_thrust_from_nav(), guidance_v_run(), RotorcraftNavigation::heading, RotorcraftNavigation::horizontal_mode, MAX_PPRZ, MIN_PPRZ, nav, NAV_HORIZONTAL_MODE_CIRCLE, NAV_HORIZONTAL_MODE_ROUTE, FloatEulers::phi, GuidancePlane::pitch_cmd, FloatEulers::psi, stab_sp_from_eulers_f(), stabilization, stabilization_attitude_plane_pid_run(), stabilization_run(), stateGetNedToBodyEulers_f(), pprz_autopilot::throttle, transition_ratio, transition_run(), TRANSITION_TO_FORWARD, and TRANSITION_TO_HOVER.

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