Paparazzi UAS  v5.15_devel-109-gee85905
Paparazzi is a free software Unmanned Aircraft System.
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motor_mixing.h File Reference

Motor Mixing. More...

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

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

void motor_mixing_run_spinup ( uint32_t  counter,
uint32_t  max_counter 
)

Variable Documentation