Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
pfc_actuators module

Preform a pre flight check of the actuators and validate by looking at the feedback.

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="pfc_actuators">
b'<define name="PFC_ACTUATORS" value="{}" />\n '
b'<define name="PFC_ACTUATORS_MAX_ANGLE_ERROR" value="0.1" />\n '
b'<define name="PFC_ACTUATORS_MAX_RPM_ERROR" value="250" />\n '
b'<define name="PFC_ACTUATORS_DEBUG" value="false" />\n '
</module>

Module configuration options

Define Options

  • name: PFC_ACTUATORS value: {}
    Description: Struct containing the setup of the preflight check
  • name: PFC_ACTUATORS_MAX_ANGLE_ERROR value: 0.1
    Description: Maximum allowed angle error in radians +/-
  • name: PFC_ACTUATORS_MAX_RPM_ERROR value: 250
    Description: Maximum allowed RPM error +/-
  • name: PFC_ACTUATORS_DEBUG value: false
    Description: Enable debug output in the GCS

Module functions

Init Functions

These initialization functions are called once on startup.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw pfc_actuators.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="pfc_actuators" dir="checks">
<doc>
<description>
Preform a pre flight check of the actuators and validate by looking at the feedback.
</description>
<define name="PFC_ACTUATORS" value="{}" description="Struct containing the setup of the preflight check"/>
<define name="PFC_ACTUATORS_MAX_ANGLE_ERROR" value="0.1" description="Maximum allowed angle error in radians +/-"/>
<define name="PFC_ACTUATORS_MAX_RPM_ERROR" value="250" description="Maximum allowed RPM error +/-"/>
<define name="PFC_ACTUATORS_DEBUG" value="false" description="Enable debug output in the GCS"/>
</doc>
<settings>
<dl_settings>
<dl_settings name="pfc_actuators">
<dl_setting var="act_start" min="0" step="1" max="1" values="OFF|START" handler="start" module="checks/pfc_actuators" type="fun"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>@datalink,preflight_checks</depends>
</dep>
<header>
<file name="pfc_actuators.h"/>
</header>
<init fun="pfc_actuators_init()"/>
<makefile>
<file name="pfc_actuators.c"/>
<test>
<define name="PFC_ACTUATORS" value="{{}}"/>
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DOWNLINK_DEVICE" value="uart0"/>
<define name="USE_UART0"/>
</test>
</makefile>
</module>