Paparazzi UAS  v5.15_devel-112-g521f3cf
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swashplate_mixing.c File Reference
#include "swashplate_mixing.h"
#include "throttle_curve.h"
+ Include dependency graph for swashplate_mixing.c:

Go to the source code of this file.

Macros

#define SW_MIXING_TRIM_ROLL   0
 
#define SW_MIXING_TRIM_PITCH   0
 
#define SW_MIXING_TRIM_COLL   0
 

Functions

void swashplate_mixing_init ()
 Initialize the motor mixing and calculate the trim values. More...
 
void swashplate_mixing_run (pprz_t in_cmd[])
 

Variables

struct swashplate_mixing_t swashplate_mixing
 
static const float roll_coef [SW_NB] = SW_MIXING_ROLL_COEF
 
static const float pitch_coef [SW_NB] = SW_MIXING_PITCH_COEF
 
static const float coll_coef [SW_NB] = SW_MIXING_COLL_COEF
 

Detailed Description

Author
C. De Wagter and Freek van Tienen Helicopter Swashplate Mixing

Definition in file swashplate_mixing.c.

Macro Definition Documentation

#define SW_MIXING_TRIM_COLL   0

Definition at line 52 of file swashplate_mixing.c.

Referenced by swashplate_mixing_init().

#define SW_MIXING_TRIM_PITCH   0

Definition at line 46 of file swashplate_mixing.c.

Referenced by swashplate_mixing_init().

#define SW_MIXING_TRIM_ROLL   0

Definition at line 40 of file swashplate_mixing.c.

Referenced by swashplate_mixing_init().

Function Documentation

void swashplate_mixing_init ( void  )

Initialize the motor mixing and calculate the trim values.

Definition at line 60 of file swashplate_mixing.c.

References coll_coef, swashplate_mixing_t::commands, pitch_coef, roll_coef, SW_MIXING_TRIM_COLL, SW_MIXING_TRIM_PITCH, SW_MIXING_TRIM_ROLL, SW_NB, and swashplate_mixing_t::trim.

void swashplate_mixing_run ( pprz_t  in_cmd[])

Variable Documentation

const float coll_coef[SW_NB] = SW_MIXING_COLL_COEF
static

Definition at line 36 of file swashplate_mixing.c.

Referenced by swashplate_mixing_init(), and swashplate_mixing_run().

const float pitch_coef[SW_NB] = SW_MIXING_PITCH_COEF
static

Definition at line 35 of file swashplate_mixing.c.

Referenced by swashplate_mixing_init(), and swashplate_mixing_run().

const float roll_coef[SW_NB] = SW_MIXING_ROLL_COEF
static

Definition at line 34 of file swashplate_mixing.c.

Referenced by swashplate_mixing_init(), and swashplate_mixing_run().

struct swashplate_mixing_t swashplate_mixing

Definition at line 31 of file swashplate_mixing.c.