motor_mixing.h File Reference

Motor Mixing. More...

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

Include dependency graph for motor_mixing.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
struct	MotorMixing

Functions
void	motor_mixing_init (void)
void	motor_mixing_run (bool motors_on, bool override_on, pprz_t in_cmd[])
void	motor_mixing_run_spinup (uint32_t counter, uint32_t max_counter)

Variables
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.h.

---

Data Structure Documentation

MotorMixing

struct MotorMixing

Definition at line 36 of file motor_mixing.h.

Data Fields
int32_t	commands[MOTOR_MIXING_NB_MOTOR]
uint32_t	nb_failure
uint32_t	nb_saturation
bool	override_enabled[MOTOR_MIXING_NB_MOTOR]
int32_t	override_value[MOTOR_MIXING_NB_MOTOR]
int32_t	trim[MOTOR_MIXING_NB_MOTOR]

Function Documentation

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Variable Documentation

motor_mixing

struct MotorMixing motor_mixing

extern

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().