Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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motor_mixing.h
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1 /*
2  * Copyright (C) 2008-2012 The Paparazzi Team
3  *
4  * This file is part of Paparazzi.
5  *
6  * Paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
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14  * GNU General Public License for more details.
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17  * along with Paparazzi; see the file COPYING. If not, write to
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20  */
21 
28 #ifndef MOTOR_MIXING_H
29 #define MOTOR_MIXING_H
30 
31 #include "std.h"
32 #include "paparazzi.h"
33 #include "generated/airframe.h"
34 #include "motor_mixing_types.h"
35 
36 struct MotorMixing {
37  int32_t commands[MOTOR_MIXING_NB_MOTOR];
38  int32_t trim[MOTOR_MIXING_NB_MOTOR];
39  bool override_enabled[MOTOR_MIXING_NB_MOTOR];
40  int32_t override_value[MOTOR_MIXING_NB_MOTOR];
43 };
44 
45 extern struct MotorMixing motor_mixing;
46 
47 extern void motor_mixing_init(void);
48 extern void motor_mixing_run(bool motors_on, bool override_on, pprz_t in_cmd[]);
49 extern void motor_mixing_run_spinup(uint32_t counter, uint32_t max_counter);
50 
51 #endif /* MOTOR_MIXING_H */
struct MotorMixing motor_mixing
Definition: motor_mixing.c:94
int32_t trim[MOTOR_MIXING_NB_MOTOR]
Definition: motor_mixing.h:38
uint32_t nb_failure
Definition: motor_mixing.h:42
bool override_enabled[MOTOR_MIXING_NB_MOTOR]
Definition: motor_mixing.h:39
int16_t pprz_t
Definition: paparazzi.h:6
void motor_mixing_init(void)
Definition: motor_mixing.c:109
void motor_mixing_run(bool motors_on, bool override_on, pprz_t in_cmd[])
Definition: motor_mixing.c:193
int32_t override_value[MOTOR_MIXING_NB_MOTOR]
Definition: motor_mixing.h:40
uint32_t nb_saturation
Definition: motor_mixing.h:41
void motor_mixing_run_spinup(uint32_t counter, uint32_t max_counter)
Definition: motor_mixing.c:168
unsigned long uint32_t
Definition: types.h:18
int32_t counter
signed long int32_t
Definition: types.h:19
int32_t commands[MOTOR_MIXING_NB_MOTOR]
Definition: motor_mixing.h:37
Common Motor Mixing configuration types.