rotwing_state.h File Reference

#include "std.h"

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Data Structures
struct	RotwingState
struct	RotWingStateSettings
struct	RotWingStateSkewing

Macros
#define	ROTWING_STATE_HOVER   0
	Rotwing States. More...
#define	ROTWING_STATE_SKEWING   1
#define	ROTWING_STATE_FW   2
#define	ROTWING_STATE_FW_HOV_MOT_IDLE   3
#define	ROTWING_STATE_FW_HOV_MOT_OFF   4
#define	ROTWING_STATE_FREE   5
#define	ROTWING_CONFIGURATION_HOVER   0
	Rotwing Configurations. More...
#define	ROTWING_CONFIGURATION_HYBRID   1
#define	ROTWING_CONFIGURATION_EFFICIENT   2
#define	ROTWING_STATE_WING_QUAD_SETTING   0
#define	ROTWING_STATE_WING_SCHEDULING_SETTING   1
#define	ROTWING_STATE_WING_FW_SETTING   2
#define	ROTWING_STATE_PITCH_QUAD_SETTING   0
#define	ROTWING_STATE_PITCH_TRANSITION_SETTING   1
#define	ROTWING_STATE_PITCH_FW_SETTING   2

Functions
void	init_rotwing_state (void)
void	periodic_rotwing_state (void)
void	request_rotwing_state (uint8_t state)
void	rotwing_request_configuration (uint8_t configuration)
void	rotwing_state_skew_actuator_periodic (void)

Variables
struct RotwingState	rotwing_state
struct RotWingStateSettings	rotwing_state_settings
struct RotWingStateSkewing	rotwing_state_skewing
float	rotwing_state_max_hover_speed
bool	hover_motors_active
bool	bool_disable_hover_motors

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Data Structure Documentation

RotwingState

struct RotwingState

Definition at line 46 of file rotwing_state.h.

Data Fields
uint8_t	current_state
uint8_t	desired_state

RotWingStateSettings

struct RotWingStateSettings

Definition at line 59 of file rotwing_state.h.

Data Fields
bool	force_forward
bool	hover_motors_active
bool	hover_motors_disable
float	max_v_climb
float	max_v_descend
float	nav_max_speed
uint8_t	preferred_pitch
bool	stall_protection
uint8_t	wing_scheduler

RotWingStateSkewing

struct RotWingStateSkewing

Definition at line 71 of file rotwing_state.h.

Data Fields
bool	airspeed_scheduling
bool	force_rotation_angle
int32_t	servo_pprz_cmd
float	wing_angle_deg
float	wing_angle_deg_sp

Macro Definition Documentation

ROTWING_CONFIGURATION_EFFICIENT

#define ROTWING_CONFIGURATION_EFFICIENT   2

Definition at line 44 of file rotwing_state.h.

ROTWING_CONFIGURATION_HOVER

#define ROTWING_CONFIGURATION_HOVER   0

Rotwing Configurations.

Definition at line 42 of file rotwing_state.h.

ROTWING_CONFIGURATION_HYBRID

#define ROTWING_CONFIGURATION_HYBRID   1

Definition at line 43 of file rotwing_state.h.

ROTWING_STATE_FREE

#define ROTWING_STATE_FREE   5

Definition at line 38 of file rotwing_state.h.

ROTWING_STATE_FW

#define ROTWING_STATE_FW   2

Definition at line 35 of file rotwing_state.h.

ROTWING_STATE_FW_HOV_MOT_IDLE

#define ROTWING_STATE_FW_HOV_MOT_IDLE   3

Definition at line 36 of file rotwing_state.h.

ROTWING_STATE_FW_HOV_MOT_OFF

#define ROTWING_STATE_FW_HOV_MOT_OFF   4

Definition at line 37 of file rotwing_state.h.

ROTWING_STATE_HOVER

#define ROTWING_STATE_HOVER   0

Rotwing States.

Definition at line 33 of file rotwing_state.h.

ROTWING_STATE_PITCH_FW_SETTING

#define ROTWING_STATE_PITCH_FW_SETTING   2

Definition at line 57 of file rotwing_state.h.

ROTWING_STATE_PITCH_QUAD_SETTING

#define ROTWING_STATE_PITCH_QUAD_SETTING   0

Definition at line 55 of file rotwing_state.h.

ROTWING_STATE_PITCH_TRANSITION_SETTING

#define ROTWING_STATE_PITCH_TRANSITION_SETTING   1

Definition at line 56 of file rotwing_state.h.

ROTWING_STATE_SKEWING

#define ROTWING_STATE_SKEWING   1

Definition at line 34 of file rotwing_state.h.

ROTWING_STATE_WING_FW_SETTING

#define ROTWING_STATE_WING_FW_SETTING   2

Definition at line 53 of file rotwing_state.h.

ROTWING_STATE_WING_QUAD_SETTING

#define ROTWING_STATE_WING_QUAD_SETTING   0

Definition at line 51 of file rotwing_state.h.

ROTWING_STATE_WING_SCHEDULING_SETTING

#define ROTWING_STATE_WING_SCHEDULING_SETTING   1

Definition at line 52 of file rotwing_state.h.

Function Documentation

init_rotwing_state()

void init_rotwing_state

(

void

)

Definition at line 170 of file rotwing_state.c.

References RotWingStateSkewing::airspeed_scheduling, RotwingState::current_state, DefaultPeriodic, RotwingState::desired_state, RotWingStateSkewing::force_rotation_angle, MAX_PPRZ, register_periodic_telemetry(), rotwing_state, ROTWING_STATE_ACT_FEEDBACK_ID, rotwing_state_feedback_cb(), rotwing_state_feedback_ev, ROTWING_STATE_HOVER, rotwing_state_skewing, send_rotating_wing_state(), RotWingStateSkewing::servo_pprz_cmd, RotWingStateSkewing::wing_angle_deg, and RotWingStateSkewing::wing_angle_deg_sp.

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periodic_rotwing_state()

void periodic_rotwing_state

(

void

)

Definition at line 190 of file rotwing_state.c.

References bool_disable_hover_motors, guidance_h, GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_NAV, HorizontalGuidance::mode, rotwing_check_set_current_state(), rotwing_state_set_fw_settings(), rotwing_state_set_hover_settings(), rotwing_state_skewer(), and rotwing_switch_state().

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request_rotwing_state()

void request_rotwing_state

(

uint8_t

state

)

Definition at line 217 of file rotwing_state.c.

References RotwingState::desired_state, rotwing_state, ROTWING_STATE_FW_HOV_MOT_OFF, and state.

Referenced by rotwing_request_configuration().

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rotwing_request_configuration()

void rotwing_request_configuration

(

uint8_t

configuration

)

Definition at line 225 of file rotwing_state.c.

References request_rotwing_state(), ROTWING_CONFIGURATION_EFFICIENT, ROTWING_CONFIGURATION_HOVER, ROTWING_CONFIGURATION_HYBRID, ROTWING_STATE_FW_HOV_MOT_OFF, ROTWING_STATE_HOVER, and ROTWING_STATE_SKEWING.

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rotwing_state_skew_actuator_periodic()

void rotwing_state_skew_actuator_periodic

(

void

)

Definition at line 563 of file rotwing_state.c.

References ACT_FEEDBACK_UAVCAN_ID, act_feedback_t::idx, MAX_PPRZ, rotwing_state_skewing, RotWingStateSkewing::servo_pprz_cmd, speed_sp, RotWingStateSkewing::wing_angle_deg, and RotWingStateSkewing::wing_angle_deg_sp.

Variable Documentation

bool_disable_hover_motors

bool bool_disable_hover_motors

extern

Definition at line 138 of file rotwing_state.c.

Referenced by guidance_indi_hybrid_set_wls_settings(), periodic_rotwing_state(), and rotwing_state_set_state_settings().

hover_motors_active

bool hover_motors_active

extern

Definition at line 137 of file rotwing_state.c.

Referenced by guidance_indi_hybrid_set_wls_settings(), and rotwing_state_set_state_settings().

rotwing_state

struct RotwingState rotwing_state

extern

Definition at line 123 of file rotwing_state.c.

Referenced by init_rotwing_state(), request_rotwing_state(), rotwing_check_set_current_state(), rotwing_state_set_skewing_settings(), rotwing_state_skewer(), rotwing_switch_state(), and send_rotating_wing_state().

rotwing_state_max_hover_speed

float rotwing_state_max_hover_speed

extern

Definition at line 135 of file rotwing_state.c.

Referenced by rotwing_state_set_hover_settings().

rotwing_state_settings

struct RotWingStateSettings rotwing_state_settings

extern

Definition at line 123 of file rotwing_state.c.

Referenced by rotwing_state_set_fw_hov_mot_idle_settings(), rotwing_state_set_fw_hov_mot_off_settings(), rotwing_state_set_fw_settings(), rotwing_state_set_hover_settings(), rotwing_state_set_skewing_settings(), and rotwing_state_set_state_settings().

rotwing_state_skewing

struct RotWingStateSkewing rotwing_state_skewing

extern

Definition at line 123 of file rotwing_state.c.

Referenced by guidance_indi_hybrid_set_wls_settings(), init_rotwing_state(), rotwing_check_set_current_state(), rotwing_state_feedback_cb(), rotwing_state_set_state_settings(), rotwing_state_skew_actuator_periodic(), rotwing_state_skewer(), and send_rotating_wing_state().