Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Go to the source code of this file.
Data Structures | |
struct | swashplate_mixing_t |
Macros | |
#define | MECH 0 |
#define | H120 1 |
#define | HR120 2 |
#define | SW_NB 3 |
MECH (front/right/coll), H120 (front/rightback/leftback), HR120 (back/leftfront/rightfront) More... | |
#define | SW_FRONT 0 |
#define | SW_RIGHT 1 |
#define | SW_COLL 2 |
#define | SW_MIXING_ROLL_COEF { 0, -1, 0 } |
#define | SW_MIXING_PITCH_COEF { 1, 0, 0 } |
#define | SW_MIXING_COLL_COEF { 0, 0, 1 } |
Functions | |
void | swashplate_mixing_init (void) |
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 |
Definition in file swashplate_mixing.h.
struct swashplate_mixing_t |
#define H120 1 |
Definition at line 36 of file swashplate_mixing.h.
#define HR120 2 |
Definition at line 37 of file swashplate_mixing.h.
#define MECH 0 |
Definition at line 35 of file swashplate_mixing.h.
#define SW_COLL 2 |
Definition at line 46 of file swashplate_mixing.h.
#define SW_FRONT 0 |
Definition at line 44 of file swashplate_mixing.h.
#define SW_MIXING_COLL_COEF { 0, 0, 1 } |
Definition at line 49 of file swashplate_mixing.h.
#define SW_MIXING_PITCH_COEF { 1, 0, 0 } |
Definition at line 48 of file swashplate_mixing.h.
#define SW_MIXING_ROLL_COEF { 0, -1, 0 } |
Definition at line 47 of file swashplate_mixing.h.
#define SW_NB 3 |
MECH (front/right/coll), H120 (front/rightback/leftback), HR120 (back/leftfront/rightfront)
Definition at line 43 of file swashplate_mixing.h.
#define SW_RIGHT 1 |
Definition at line 45 of file swashplate_mixing.h.
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, swashplate_mixing, and swashplate_mixing_t::trim.
void swashplate_mixing_run | ( | pprz_t | in_cmd[] | ) |
Definition at line 79 of file swashplate_mixing.c.
References coll_coef, swashplate_mixing_t::commands, MAX_PPRZ, pitch_coef, roll_coef, SW_NB, swashplate_mixing, and swashplate_mixing_t::trim.
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extern |
Definition at line 1 of file swashplate_mixing.c.
Referenced by swashplate_mixing_init(), and swashplate_mixing_run().