#include "preflight_checks.h"
#include "core/abi.h"
#include "modules/datalink/telemetry.h"
#include <stdio.h>
#include <math.h>

Include dependency graph for pfc_actuators.c:

Data Structures
struct	pfc_actuator_t
	The configuration struct of the actuator. More...

struct	pfc_actuators_t

Macros
#define	PFC_ACTUATORS_MAX_ANGLE_ERROR 0.05f
	Maximum error for the angle of the actuators (rad)

#define	PFC_ACTUATORS_MAX_RPM_ERROR 250.0f
	Maximum error for the RPM of the actuators.

#define	PFC_ACTUATORS_DEBUG false
	Enable debugging to set the expected feedback values.

#define	pfc_actuators_debug(...)
	Send a debug message to the ground station.

Enumerations
enum	pfc_actuators_state_t { PFC_ACTUATORS_STATE_INIT , PFC_ACTUATORS_STATE_RUNNING , PFC_ACTUATORS_STATE_SUCCESS , PFC_ACTUATORS_STATE_ERROR }
	The status of the preflight checks. More...

enum	pfc_actuator_state_t { PFC_ACTUATOR_STATE_WAIT , PFC_ACTUATOR_STATE_LOW , PFC_ACTUATOR_STATE_HIGH }
	The state of the actuator during the test. More...

Functions
static void	pfc_actuators_cb (struct preflight_result_t *result)
	Check the actuators with feedback.

static void	pfc_act_feedback_cb (uint8_t sender_id, struct act_feedback_t *feedback, uint8_t num_act)
	Callback for the actuator feedback.

static void	pfc_actuators_error (const char *fmt,...)
	Send an error message to the ground station.

void	pfc_actuators_init (void)
	Register the preflight checks for the actuators.

void	pfc_actuators_run (void)
	Move the actuators, should be put in the command laws.

void	pfc_actuators_start (bool start)
	Start the actuator testing.

int16_t	pfc_actuators_value (uint8_t idx, int16_t value)
	Get the actuator value in the command laws to move the actuator during the preflight checks.

Variables
static struct pfc_actuator_t	pfc_acts [] = PFC_ACTUATORS

static struct pfc_actuators_t	pfc_actuators

static struct preflight_check_t	actuators_pfc

static abi_event	act_feedback_ev

Detailed Description

Author: Freek van Tienen freek.nosp@m..v.t.nosp@m.ienen.nosp@m.@gma.nosp@m.il.co.nosp@m.m Checks the actuators with feedback before takeoff

Definition in file pfc_actuators.c.

Data Structure Documentation

struct pfc_actuator_t

The configuration struct of the actuator.

Definition at line 76 of file pfc_actuators.c.

Data Fields
uint8_t	feedback_id	The feedback id of the actuator (255 for none)
uint8_t	feedback_id2	The secondary feedback id of the actuator (255 for none)
int16_t	high	The high value to set the actuator to.
float	high_feedback	The expected feedback value when the actuator is high.
int16_t	low	The low value to set the actuator to.
float	low_feedback	The expected feedback value when the actuator is low.
float	timeout	The timeout for the actuator to move.

struct pfc_actuators_t

Definition at line 88 of file pfc_actuators.c.

Data Fields
uint8_t	act_idx	The current actuator index.
uint8_t	act_nb	The number of actuators.
float	act_start_time	The start time of the actuator (during the test)
enum pfc_actuator_state_t	act_state	The state of the actuator (during the test)
float	last_feedback	The last measured feedback value of the actuator.
float	last_feedback2	The last measured secondary feedback value of the actuator.
float	last_feedback_err	The last expected feedback error of the actuator (based on RPM/angle)
float	last_feedback_err2	The last expected secondary feedback error of the actuator (based on RPM/angle)
enum pfc_actuators_state_t	state	The state of the preflight checks.