sys_id_chirp.c File Reference

#include "std.h"
#include "sys_id_chirp.h"
#include "pprz_chirp.h"
#include "modules/datalink/telemetry.h"
#include "generated/airframe.h"
#include "mcu_periph/sys_time.h"
#include "filters/low_pass_filter.h"
#include "math/pprz_random.h"

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Macros
#define	SYS_ID_CHIRP_AXES   {COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW,COMMAND_THRUST}
#define	SYS_ID_CHIRP_ENABLED   TRUE
#define	SYS_ID_CHIRP_USE_NOISE   TRUE
#define	SYS_ID_CHIRP_NB_AXES   sizeof SYS_ID_ACTIVE_CHIRP_AXES / sizeof SYS_ID_ACTIVE_CHIRP_AXES[0]

Functions
static void	set_current_chirp_values (void)
static void	send_chirp (struct transport_tx *trans, struct link_device *dev)
static void	start_chirp (void)
static void	stop_chirp (void)
void	sys_id_chirp_activate_handler (uint8_t activate)
uint8_t	sys_id_chirp_running (void)
void	sys_id_chirp_axis_handler (uint8_t axis)
void	sys_id_chirp_fstart_handler (float fstart)
void	sys_id_chirp_fstop_handler (float fstop)
void	sys_id_chirp_fade_in_activate_handler (uint8_t fade_in)
void	sys_id_chirp_exponential_activate_handler (uint8_t exponential)
void	sys_id_chirp_init (void)
void	sys_id_chirp_run (void)
void	sys_id_chirp_add_values (bool UNUSED motors_on, bool UNUSED override_on, pprz_t UNUSED in_cmd[])

Variables
static struct chirp_t	chirp
uint8_t	chirp_active = FALSE
uint8_t	chirp_axis = 0
pprz_t	chirp_amplitude = 0
float	chirp_noise_stdv_onaxis_ratio = 0.1
float	chirp_noise_stdv_offaxis = 200
float	chirp_fstart_hz = 1.0f
float	chirp_fstop_hz = 5.0f
float	chirp_length_s = 20
uint8_t	chirp_fade_in = false
uint8_t	chirp_exponential = false
static const int8_t	SYS_ID_ACTIVE_CHIRP_AXES [] = SYS_ID_CHIRP_AXES
static struct FirstOrderLowPass	filters [SYS_ID_CHIRP_NB_AXES]
static pprz_t	current_chirp_values [SYS_ID_CHIRP_NB_AXES]

Detailed Description

Author

Joost Meulenbeld System identification chirp

Definition in file sys_id_chirp.c.

Macro Definition Documentation

SYS_ID_CHIRP_AXES

#define SYS_ID_CHIRP_AXES   {COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW,COMMAND_THRUST}

Definition at line 39 of file sys_id_chirp.c.

SYS_ID_CHIRP_ENABLED

#define SYS_ID_CHIRP_ENABLED   TRUE

Definition at line 43 of file sys_id_chirp.c.

SYS_ID_CHIRP_NB_AXES

#define SYS_ID_CHIRP_NB_AXES   sizeof SYS_ID_ACTIVE_CHIRP_AXES / sizeof SYS_ID_ACTIVE_CHIRP_AXES[0]

Definition at line 79 of file sys_id_chirp.c.

SYS_ID_CHIRP_USE_NOISE

#define SYS_ID_CHIRP_USE_NOISE   TRUE

Definition at line 47 of file sys_id_chirp.c.

Function Documentation

send_chirp()

static void send_chirp ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 115 of file sys_id_chirp.c.

References chirp, chirp_active, chirp_amplitude, chirp_axis, chirp_exponential, chirp_fade_in, chirp_fstart_hz, chirp_fstop_hz, chirp_noise_stdv_offaxis, chirp_noise_stdv_onaxis_ratio, current_chirp_values, chirp_t::current_frequency_hz, dev, foo, and chirp_t::percentage_done.

Referenced by sys_id_chirp_init().

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set_current_chirp_values()

static void set_current_chirp_values ( void  )

static

Definition at line 87 of file sys_id_chirp.c.

References chirp, chirp_active, chirp_amplitude, chirp_axis, chirp_noise_stdv_offaxis, chirp_noise_stdv_onaxis_ratio, current_chirp_values, chirp_t::current_value, filters, foo, rand_gaussian(), SYS_ID_CHIRP_NB_AXES, and update_first_order_low_pass().

Referenced by start_chirp(), stop_chirp(), sys_id_chirp_init(), and sys_id_chirp_run().

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start_chirp()

static void start_chirp ( void  )

static

Definition at line 123 of file sys_id_chirp.c.

References chirp, chirp_active, chirp_reset(), get_sys_time_float(), set_current_chirp_values(), and TRUE.

Referenced by sys_id_chirp_activate_handler().

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stop_chirp()

static void stop_chirp ( void  )

static

Definition at line 130 of file sys_id_chirp.c.

References chirp, chirp_active, chirp_reset(), FALSE, get_sys_time_float(), and set_current_chirp_values().

Referenced by sys_id_chirp_activate_handler(), and sys_id_chirp_run().

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sys_id_chirp_activate_handler()

void sys_id_chirp_activate_handler

(

uint8_t

activate

)

Definition at line 137 of file sys_id_chirp.c.

References chirp, chirp_active, chirp_exponential, chirp_fade_in, chirp_fstart_hz, chirp_fstop_hz, chirp_init(), chirp_length_s, foo, get_sys_time_float(), radio_control, start_chirp(), stop_chirp(), and RadioControl::values.

Referenced by sys_id_chirp_run().

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sys_id_chirp_add_values()

void sys_id_chirp_add_values	(	bool UNUSED	motors_on,
		bool UNUSED	override_on,
		pprz_t UNUSED	in_cmd[]
	)

Definition at line 251 of file sys_id_chirp.c.

References current_chirp_values, foo, MAX_PPRZ, SYS_ID_ACTIVE_CHIRP_AXES, and SYS_ID_CHIRP_NB_AXES.

sys_id_chirp_axis_handler()

void sys_id_chirp_axis_handler ( uint8_t  axis )

extern

Definition at line 161 of file sys_id_chirp.c.

References chirp_axis, foo, and SYS_ID_CHIRP_NB_AXES.

sys_id_chirp_exponential_activate_handler()

void sys_id_chirp_exponential_activate_handler ( uint8_t  exponential )

extern

Definition at line 187 of file sys_id_chirp.c.

References chirp_exponential, and foo.

sys_id_chirp_fade_in_activate_handler()

void sys_id_chirp_fade_in_activate_handler ( uint8_t  fade_in )

extern

Definition at line 182 of file sys_id_chirp.c.

References chirp_fade_in.

sys_id_chirp_fstart_handler()

void sys_id_chirp_fstart_handler ( float  fstart )

extern

Definition at line 168 of file sys_id_chirp.c.

References chirp_fstart_hz, chirp_fstop_hz, and foo.

sys_id_chirp_fstop_handler()

void sys_id_chirp_fstop_handler ( float  fstop )

extern

Definition at line 175 of file sys_id_chirp.c.

References chirp_fstart_hz, chirp_fstop_hz, and foo.

sys_id_chirp_init()

void sys_id_chirp_init

(

void

)

Definition at line 192 of file sys_id_chirp.c.

References chirp, chirp_exponential, chirp_fade_in, chirp_fstart_hz, chirp_fstop_hz, chirp_init(), chirp_length_s, current_chirp_values, DefaultPeriodic, filters, foo, get_sys_time_float(), init_first_order_low_pass(), init_random(), register_periodic_telemetry(), send_chirp(), set_current_chirp_values(), and SYS_ID_CHIRP_NB_AXES.

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sys_id_chirp_run()

void sys_id_chirp_run

(

void

)

Definition at line 213 of file sys_id_chirp.c.

References chirp, chirp_active, chirp_is_running(), chirp_update(), foo, get_sys_time_float(), radio_control, set_current_chirp_values(), stop_chirp(), sys_id_chirp_activate_handler(), and RadioControl::values.

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sys_id_chirp_running()

uint8_t sys_id_chirp_running

(

void

)

Definition at line 156 of file sys_id_chirp.c.

References chirp_active.

Variable Documentation

chirp

struct chirp_t chirp

static

Definition at line 64 of file sys_id_chirp.c.

Referenced by chirp_init(), chirp_is_running(), chirp_reset(), chirp_update(), send_chirp(), set_current_chirp_values(), start_chirp(), stop_chirp(), sys_id_chirp_activate_handler(), sys_id_chirp_init(), and sys_id_chirp_run().

chirp_active

uint8_t chirp_active = FALSE

Definition at line 65 of file sys_id_chirp.c.

Referenced by send_chirp(), set_current_chirp_values(), start_chirp(), stop_chirp(), sys_id_chirp_activate_handler(), sys_id_chirp_run(), and sys_id_chirp_running().

chirp_amplitude

pprz_t chirp_amplitude = 0

Definition at line 67 of file sys_id_chirp.c.

Referenced by send_chirp(), and set_current_chirp_values().

chirp_axis

uint8_t chirp_axis = 0

Definition at line 66 of file sys_id_chirp.c.

Referenced by send_chirp(), set_current_chirp_values(), and sys_id_chirp_axis_handler().

chirp_exponential

uint8_t chirp_exponential = false

Definition at line 75 of file sys_id_chirp.c.

Referenced by send_chirp(), sys_id_chirp_activate_handler(), sys_id_chirp_exponential_activate_handler(), and sys_id_chirp_init().

chirp_fade_in

uint8_t chirp_fade_in = false

Definition at line 74 of file sys_id_chirp.c.

Referenced by send_chirp(), sys_id_chirp_activate_handler(), sys_id_chirp_fade_in_activate_handler(), and sys_id_chirp_init().

chirp_fstart_hz

float chirp_fstart_hz = 1.0f

Definition at line 70 of file sys_id_chirp.c.

Referenced by send_chirp(), sys_id_chirp_activate_handler(), sys_id_chirp_fstart_handler(), sys_id_chirp_fstop_handler(), and sys_id_chirp_init().

chirp_fstop_hz

float chirp_fstop_hz = 5.0f

Definition at line 71 of file sys_id_chirp.c.

Referenced by send_chirp(), sys_id_chirp_activate_handler(), sys_id_chirp_fstart_handler(), sys_id_chirp_fstop_handler(), and sys_id_chirp_init().

chirp_length_s

float chirp_length_s = 20

Definition at line 72 of file sys_id_chirp.c.

Referenced by sys_id_chirp_activate_handler(), and sys_id_chirp_init().

chirp_noise_stdv_offaxis

float chirp_noise_stdv_offaxis = 200

Definition at line 69 of file sys_id_chirp.c.

Referenced by send_chirp(), and set_current_chirp_values().

chirp_noise_stdv_onaxis_ratio

float chirp_noise_stdv_onaxis_ratio = 0.1

Definition at line 68 of file sys_id_chirp.c.

Referenced by send_chirp(), and set_current_chirp_values().

current_chirp_values

pprz_t current_chirp_values[SYS_ID_CHIRP_NB_AXES]

static

Definition at line 85 of file sys_id_chirp.c.

Referenced by send_chirp(), set_current_chirp_values(), sys_id_chirp_add_values(), and sys_id_chirp_init().

filters

struct FirstOrderLowPass filters[SYS_ID_CHIRP_NB_AXES]

static

Definition at line 82 of file sys_id_chirp.c.

Referenced by image_labeling(), set_current_chirp_values(), and sys_id_chirp_init().

SYS_ID_ACTIVE_CHIRP_AXES

const int8_t SYS_ID_ACTIVE_CHIRP_AXES[] = SYS_ID_CHIRP_AXES

static

Definition at line 78 of file sys_id_chirp.c.

Referenced by sys_id_chirp_add_values().