ctrl_windtunnel.c File Reference

Windtunnel automatic step controller. More...

#include "modules/ctrl/ctrl_windtunnel.h"
#include "state.h"
#include "modules/radio_control/radio_control.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "modules/energy/electrical.h"
#include "modules/datalink/telemetry.h"

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Data Structures
struct	ctrl_windtunnel_struct

Macros
#define	WINDTUNNEL_TO_BODY_PHI   0
#define	WINDTUNNEL_TO_BODY_THETA   0
#define	WINDTUNNEL_TO_BODY_PSI   0

Functions
static void	send_windtunnel_meas (struct transport_tx *trans, struct link_device *dev)
void	ctrl_windtunnel_init (void)
static void	ctrl_module_run (bool in_flight)
void	guidance_module_enter (void)
void	guidance_module_run (bool in_flight)

Variables
struct ctrl_windtunnel_struct	ctrl_windtunnel
float	ctrl_windtunnel_steptime = CTRL_WINDTUNNEL_STEPTIME
struct min_max_ctrl_t	ctrl_windtunnel_throttle = {.min = CTRL_WINDTUNNEL_THR_MIN, .max = CTRL_WINDTUNNEL_THR_MAX, .step = CTRL_WINDTUNNEL_THR_STEP}
struct min_max_ctrl_t	ctrl_windtunnel_flaps = {.min = CTRL_WINDTUNNEL_FLAP_MIN, .max = CTRL_WINDTUNNEL_FLAP_MAX, .step = CTRL_WINDTUNNEL_FLAP_STEP}
static float	last_time = 0

Detailed Description

Windtunnel automatic step controller.

Definition in file ctrl_windtunnel.c.

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Data Structure Documentation

ctrl_windtunnel_struct

struct ctrl_windtunnel_struct

Definition at line 45 of file ctrl_windtunnel.c.

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Data Fields
int	rc_pitch
int	rc_roll
int	rc_throttle
int	rc_yaw
struct OrientationReps	rotation

Macro Definition Documentation

WINDTUNNEL_TO_BODY_PHI

#define WINDTUNNEL_TO_BODY_PHI   0

Definition at line 34 of file ctrl_windtunnel.c.

WINDTUNNEL_TO_BODY_PSI

#define WINDTUNNEL_TO_BODY_PSI   0

Definition at line 42 of file ctrl_windtunnel.c.

WINDTUNNEL_TO_BODY_THETA

#define WINDTUNNEL_TO_BODY_THETA   0

Definition at line 38 of file ctrl_windtunnel.c.

Function Documentation

ctrl_module_run()

static void ctrl_module_run ( bool  in_flight )

static

Definition at line 94 of file ctrl_windtunnel.c.

References Stabilization::cmd, ctrl_windtunnel, ctrl_windtunnel_flaps, ctrl_windtunnel_steptime, ctrl_windtunnel_throttle, min_max_ctrl_t::current, get_sys_time_float(), last_time, min_max_ctrl_t::max, MAX_PPRZ, min_max_ctrl_t::min, ctrl_windtunnel_struct::rc_throttle, stabilization, and min_max_ctrl_t::step.

Referenced by guidance_module_run().

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ctrl_windtunnel_init()

void ctrl_windtunnel_init

(

void

)

Definition at line 77 of file ctrl_windtunnel.c.

References ctrl_windtunnel, DefaultPeriodic, orientationSetEulers_f(), ctrl_windtunnel_struct::rc_pitch, ctrl_windtunnel_struct::rc_roll, ctrl_windtunnel_struct::rc_throttle, ctrl_windtunnel_struct::rc_yaw, register_periodic_telemetry(), ctrl_windtunnel_struct::rotation, send_windtunnel_meas(), WINDTUNNEL_TO_BODY_PHI, WINDTUNNEL_TO_BODY_PSI, and WINDTUNNEL_TO_BODY_THETA.

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guidance_module_enter()

void guidance_module_enter

(

void

)

Definition at line 139 of file ctrl_windtunnel.c.

References ctrl_windtunnel, ctrl_windtunnel_struct::rc_pitch, ctrl_windtunnel_struct::rc_roll, ctrl_windtunnel_struct::rc_throttle, and ctrl_windtunnel_struct::rc_yaw.

guidance_module_run()

void guidance_module_run

(

bool

in_flight

)

Definition at line 147 of file ctrl_windtunnel.c.

References ctrl_module_run(), ctrl_windtunnel, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, ctrl_windtunnel_struct::rc_pitch, ctrl_windtunnel_struct::rc_roll, ctrl_windtunnel_struct::rc_throttle, ctrl_windtunnel_struct::rc_yaw, and RadioControl::values.

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send_windtunnel_meas()

static void send_windtunnel_meas ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 61 of file ctrl_windtunnel.c.

References air_data, AirData::airspeed, Stabilization::cmd, ctrl_windtunnel, Electrical::current, dev, electrical, float_eulers_of_quat(), float_quat_comp_inv(), orientationGetQuat_f(), ctrl_windtunnel_struct::rotation, stabilization, stateGetNedToBodyQuat_f(), FloatEulers::theta, and Electrical::vsupply.

Referenced by ctrl_windtunnel_init().

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Variable Documentation

ctrl_windtunnel

struct ctrl_windtunnel_struct ctrl_windtunnel

Referenced by ctrl_module_run(), ctrl_windtunnel_init(), guidance_module_enter(), guidance_module_run(), and send_windtunnel_meas().

ctrl_windtunnel_flaps

struct min_max_ctrl_t ctrl_windtunnel_flaps = {.min = CTRL_WINDTUNNEL_FLAP_MIN, .max = CTRL_WINDTUNNEL_FLAP_MAX, .step = CTRL_WINDTUNNEL_FLAP_STEP}

Definition at line 53 of file ctrl_windtunnel.c.

Referenced by ctrl_module_run().

ctrl_windtunnel_steptime

float ctrl_windtunnel_steptime = CTRL_WINDTUNNEL_STEPTIME

Definition at line 53 of file ctrl_windtunnel.c.

Referenced by ctrl_module_run().

ctrl_windtunnel_throttle

struct min_max_ctrl_t ctrl_windtunnel_throttle = {.min = CTRL_WINDTUNNEL_THR_MIN, .max = CTRL_WINDTUNNEL_THR_MAX, .step = CTRL_WINDTUNNEL_THR_STEP}

Definition at line 53 of file ctrl_windtunnel.c.

Referenced by ctrl_module_run().

last_time

float last_time = 0

static

Definition at line 56 of file ctrl_windtunnel.c.

Referenced by actuators_faulhaber_periodic(), and ctrl_module_run().