Hardware independent API for actuators (servos, motor controllers). More...

#include "paparazzi.h"
#include "std.h"
#include "generated/airframe.h"

Include dependency graph for actuators.h:

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Data Structures
struct	act_feedback_t

struct	act_feedback_t::act_feedback_set_t

struct	act_config_t

Typedefs
typedef void(*	act_set_t) (uint8_t driver_idx, int16_t driver_value)
	Actuator set callback.

Functions
void	actuators_init (void)

void	actuators_periodic (void)

Detailed Description

Hardware independent API for actuators (servos, motor controllers).

Definition in file actuators.h.

Data Structure Documentation

◆ act_feedback_t

struct act_feedback_t

Definition at line 44 of file actuators.h.

Collaboration diagram for act_feedback_t:

Data Fields
uint8_t	idx	General index of the actuators (generated in airframe.h)
float	position	In radians.
int32_t	rpm	RPM.
struct act_feedback_set_t	set	Bitset registering what is set as feedback.

◆ act_feedback_t::act_feedback_set_t

struct act_feedback_t::act_feedback_set_t

Definition at line 46 of file actuators.h.

Data Fields
bool	position: 1	Position is set.
bool	rpm: 1	RPM is set.

◆ act_config_t

struct act_config_t

Definition at line 56 of file actuators.h.

Data Fields
uint8_t	driver_no	Driver number.
int32_t	max	Driver max value (or motor max position)
int32_t	min	Driver min value (or motor stop position)
int32_t	neutral	Driver neutral value (or motor idle position)
uint8_t	servo_idx	Driver servo index.
float	travel_down	Precomputed travel down coef.
float	travel_up	Precomputed travel up coef.

Typedef Documentation

◆ act_set_t

typedef void(* act_set_t) (uint8_t driver_idx, int16_t driver_value)

Actuator set callback.

Parameters

driver_idx	actuator index in driver frame
driver_value	actuator value in driver unit

Definition at line 71 of file actuators.h.

Function Documentation

◆ actuators_init()

void actuators_init ( void )

extern

Definition at line 324 of file actuators.c.

Referenced by main_init(), main_init(), and px4_gimbal_init().

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◆ actuators_periodic()

void actuators_periodic ( void )