motor_mixing.c File Reference

Motor Mixing. More...

#include "modules/actuators/motor_mixing.h"
#include "paparazzi.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	INT32_MIN   (-2147483647-1)
#define	INT32_MAX   (2147483647)
#define	MOTOR_MIXING_MIN_MOTOR   0
#define	MOTOR_MIXING_MAX_MOTOR   MAX_PPRZ
#define	MOTOR_MIXING_STOP_MOTOR   -MAX_PPRZ
#define	MOTOR_MIXING_TRIM_ROLL   0
#define	MOTOR_MIXING_TRIM_PITCH   0
#define	MOTOR_MIXING_TRIM_YAW   0
#define	MOTOR_MIXING_MAX_SATURATION_OFFSET   MAX_PPRZ/10
	Maximum offset in case of saturation. More...
#define	MOTOR_MIXING_MIN_MOTOR_STARTUP   MOTOR_MIXING_MIN_MOTOR

Functions
static void	send_motor_mixing (struct transport_tx *trans, struct link_device *dev)
void	motor_mixing_init (void)
static void	offset_commands (int32_t offset)
static void	bound_commands (void)
static void	bound_commands_step (void)
void	motor_mixing_run_spinup (uint32_t counter, uint32_t max_counter)
void	motor_mixing_run (bool motors_on, bool override_on, pprz_t in_cmd[])

Variables
static const int32_t	roll_coef [MOTOR_MIXING_NB_MOTOR] = MOTOR_MIXING_ROLL_COEF
static const int32_t	pitch_coef [MOTOR_MIXING_NB_MOTOR] = MOTOR_MIXING_PITCH_COEF
static const int32_t	yaw_coef [MOTOR_MIXING_NB_MOTOR] = MOTOR_MIXING_YAW_COEF
static const int32_t	thrust_coef [MOTOR_MIXING_NB_MOTOR] = MOTOR_MIXING_THRUST_COEF
struct MotorMixing	motor_mixing

Detailed Description

Motor Mixing.

Handles the mapping of roll/pitch/yaw commands to actual motor commands.

Definition in file motor_mixing.c.

Macro Definition Documentation

INT32_MAX

#define INT32_MAX   (2147483647)

Definition at line 37 of file motor_mixing.c.

INT32_MIN

#define INT32_MIN   (-2147483647-1)

Definition at line 33 of file motor_mixing.c.

MOTOR_MIXING_MAX_MOTOR

#define MOTOR_MIXING_MAX_MOTOR   MAX_PPRZ

Definition at line 44 of file motor_mixing.c.

MOTOR_MIXING_MAX_SATURATION_OFFSET

#define MOTOR_MIXING_MAX_SATURATION_OFFSET   MAX_PPRZ/10

Maximum offset in case of saturation.

If a saturation is reached (desired motor command outside of possible MIN_MOTOR/MAX_MOTOR range), this saturation_offset is applied to all motors in order to give attitude commands a higher priority than thrust. This setting limits the saturation_offset. Default is 10% of maximum command.

Definition at line 69 of file motor_mixing.c.

MOTOR_MIXING_MIN_MOTOR

#define MOTOR_MIXING_MIN_MOTOR   0

Definition at line 43 of file motor_mixing.c.

MOTOR_MIXING_MIN_MOTOR_STARTUP

#define MOTOR_MIXING_MIN_MOTOR_STARTUP   MOTOR_MIXING_MIN_MOTOR

Definition at line 73 of file motor_mixing.c.

MOTOR_MIXING_STOP_MOTOR

#define MOTOR_MIXING_STOP_MOTOR   -MAX_PPRZ

Definition at line 47 of file motor_mixing.c.

MOTOR_MIXING_TRIM_PITCH

#define MOTOR_MIXING_TRIM_PITCH   0

Definition at line 55 of file motor_mixing.c.

MOTOR_MIXING_TRIM_ROLL

#define MOTOR_MIXING_TRIM_ROLL   0

Definition at line 51 of file motor_mixing.c.

MOTOR_MIXING_TRIM_YAW

#define MOTOR_MIXING_TRIM_YAW   0

Definition at line 59 of file motor_mixing.c.

Function Documentation

bound_commands()

static void bound_commands ( void  )

static

Definition at line 136 of file motor_mixing.c.

References MotorMixing::commands, motor_mixing, MOTOR_MIXING_MAX_MOTOR, and MOTOR_MIXING_MIN_MOTOR.

Referenced by motor_mixing_run().

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bound_commands_step()

static void bound_commands_step ( void  )

static

Definition at line 144 of file motor_mixing.c.

References MotorMixing::commands, and motor_mixing.

Referenced by motor_mixing_run().

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motor_mixing_init()

void motor_mixing_init

(

void

)

Definition at line 109 of file motor_mixing.c.

References MotorMixing::commands, DefaultPeriodic, motor_mixing, MOTOR_MIXING_STOP_MOTOR, MOTOR_MIXING_TRIM_PITCH, MOTOR_MIXING_TRIM_ROLL, MOTOR_MIXING_TRIM_YAW, MotorMixing::nb_failure, MotorMixing::nb_saturation, MotorMixing::override_enabled, MotorMixing::override_value, pitch_coef, register_periodic_telemetry(), roll_coef, send_motor_mixing(), MotorMixing::trim, and yaw_coef.

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motor_mixing_run()

void motor_mixing_run	(	bool	motors_on,
		bool	override_on,
		pprz_t	in_cmd[]
	)

Definition at line 193 of file motor_mixing.c.

References bound_commands(), bound_commands_step(), MotorMixing::commands, FALSE, INT32_MAX, INT32_MIN, MAX_PPRZ, motor_mixing, MOTOR_MIXING_MAX_MOTOR, MOTOR_MIXING_MAX_SATURATION_OFFSET, MOTOR_MIXING_MIN_MOTOR, MOTOR_MIXING_STOP_MOTOR, MotorMixing::nb_failure, MotorMixing::nb_saturation, offset_commands(), MotorMixing::override_enabled, MotorMixing::override_value, pitch_coef, roll_coef, thrust_coef, MotorMixing::trim, and yaw_coef.

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motor_mixing_run_spinup()

void motor_mixing_run_spinup	(	uint32_t	counter,
		uint32_t	max_counter
	)

Definition at line 168 of file motor_mixing.c.

References MotorMixing::commands, counter, motor_mixing, MOTOR_MIXING_MIN_MOTOR, and MOTOR_MIXING_MIN_MOTOR_STARTUP.

offset_commands()

static void offset_commands ( int32_t  offset )

static

Definition at line 128 of file motor_mixing.c.

References MotorMixing::commands, motor_mixing, and offset.

Referenced by motor_mixing_run().

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send_motor_mixing()

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

static

Definition at line 98 of file motor_mixing.c.

References MotorMixing::commands, dev, and motor_mixing.

Referenced by motor_mixing_init().

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Variable Documentation

motor_mixing

struct MotorMixing motor_mixing

Definition at line 92 of file motor_mixing.c.

Referenced by actuators_hitl_periodic(), bound_commands(), bound_commands_step(), motor_mixing_init(), motor_mixing_run(), motor_mixing_run_spinup(), nps_autopilot_run_step(), offset_commands(), send_motor_mixing(), and send_status().

pitch_coef

const int32_t pitch_coef[MOTOR_MIXING_NB_MOTOR] = MOTOR_MIXING_PITCH_COEF

static

Definition at line 90 of file motor_mixing.c.

Referenced by motor_mixing_init(), and motor_mixing_run().

roll_coef

const int32_t roll_coef[MOTOR_MIXING_NB_MOTOR] = MOTOR_MIXING_ROLL_COEF

static

Definition at line 89 of file motor_mixing.c.

Referenced by motor_mixing_init(), and motor_mixing_run().

thrust_coef

const int32_t thrust_coef[MOTOR_MIXING_NB_MOTOR] = MOTOR_MIXING_THRUST_COEF

static

Definition at line 92 of file motor_mixing.c.

Referenced by motor_mixing_run().

yaw_coef

const int32_t yaw_coef[MOTOR_MIXING_NB_MOTOR] = MOTOR_MIXING_YAW_COEF

static

Definition at line 91 of file motor_mixing.c.

Referenced by init_gazebo(), motor_mixing_init(), and motor_mixing_run().