sys_id_doublet.c File Reference

#include "std.h"
#include "sys_id_doublet.h"
#include "pprz_doublet.h"
#include "modules/datalink/telemetry.h"
#include "generated/airframe.h"
#include "mcu_periph/sys_time.h"

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Macros
#define	SYS_ID_DOUBLET_AXES   {COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW,COMMAND_THRUST}
#define	SYS_ID_DOUBLET_ENABLED   TRUE
#define	SYS_ID_DOUBLET_NB_AXES   sizeof SYS_ID_ACTIVE_DOUBLET_AXES / sizeof SYS_ID_ACTIVE_DOUBLET_AXES[0]

Functions
static void	set_current_doublet_values (void)
static void	send_doublet (struct transport_tx *trans, struct link_device *dev)
static void	start_doublet (void)
static void	stop_doublet (void)
uint8_t	sys_id_doublet_running (void)
void	sys_id_doublet_activate_handler (uint8_t activate)
void	sys_id_doublet_axis_handler (uint8_t axis)
void	sys_id_doublet_mod_handler (uint8_t mode)
void	sys_id_doublet_init (void)
void	sys_id_doublet_run (void)
void	sys_id_doublet_add_values (bool UNUSED motors_on, bool UNUSED override_on, pprz_t UNUSED in_cmd[])

Variables
static struct doublet_t	doublet
uint8_t	doublet_active = false
uint8_t	doublet_mode = 0
uint8_t	doublet_axis = 0
pprz_t	doublet_amplitude = 0
float	doublet_length_s = 0.5f
float	doublet_extra_waiting_time_s = 0.0f
static const int8_t	SYS_ID_ACTIVE_DOUBLET_AXES [] = SYS_ID_DOUBLET_AXES
static pprz_t	current_doublet_values [SYS_ID_DOUBLET_NB_AXES]

Detailed Description

Author

Alessandro Collicelli System identification doublet

This is the module implementation for the doublet maneuver. Use sys_id_chirp by adding the module to your airframe file and adding the following line to the top of the <command_laws> section of your airframe file:

<call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,values)">

In the GCS you can then start and stop the doublet, change type of doublet maneuvre. Documentation of the specific options can be found in the module xml file.

Definition in file sys_id_doublet.c.

Macro Definition Documentation

SYS_ID_DOUBLET_AXES

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

Definition at line 44 of file sys_id_doublet.c.

SYS_ID_DOUBLET_ENABLED

#define SYS_ID_DOUBLET_ENABLED   TRUE

Definition at line 48 of file sys_id_doublet.c.

SYS_ID_DOUBLET_NB_AXES

#define SYS_ID_DOUBLET_NB_AXES   sizeof SYS_ID_ACTIVE_DOUBLET_AXES / sizeof SYS_ID_ACTIVE_DOUBLET_AXES[0]

Definition at line 71 of file sys_id_doublet.c.

Function Documentation

send_doublet()

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

static

Definition at line 87 of file sys_id_doublet.c.

References current_doublet_values, dev, doublet_active, doublet_amplitude, doublet_axis, and doublet_mode.

Referenced by sys_id_doublet_init().

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set_current_doublet_values()

static void set_current_doublet_values ( void  )

static

Definition at line 75 of file sys_id_doublet.c.

References current_doublet_values, doublet_t::current_value, doublet, doublet_active, doublet_amplitude, doublet_axis, and SYS_ID_DOUBLET_NB_AXES.

Referenced by start_doublet(), stop_doublet(), sys_id_doublet_init(), and sys_id_doublet_run().

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start_doublet()

static void start_doublet ( void  )

static

Definition at line 93 of file sys_id_doublet.c.

References doublet, doublet_active, doublet_reset(), get_sys_time_float(), and set_current_doublet_values().

Referenced by sys_id_doublet_activate_handler().

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stop_doublet()

static void stop_doublet ( void  )

static

Definition at line 100 of file sys_id_doublet.c.

References doublet, doublet_active, doublet_reset(), get_sys_time_float(), and set_current_doublet_values().

Referenced by sys_id_doublet_activate_handler(), and sys_id_doublet_run().

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sys_id_doublet_activate_handler()

void sys_id_doublet_activate_handler

(

uint8_t

activate

)

Definition at line 111 of file sys_id_doublet.c.

References doublet, doublet_active, doublet_extra_waiting_time_s, doublet_init(), doublet_length_s, doublet_mode, get_sys_time_float(), radio_control, start_doublet(), stop_doublet(), and RadioControl::values.

Referenced by perform_sys_id_auto_doublets(), sys_id_auto_doublets_on_deactivation(), and sys_id_doublet_run().

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sys_id_doublet_add_values()

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

Definition at line 187 of file sys_id_doublet.c.

References current_doublet_values, MAX_PPRZ, SYS_ID_ACTIVE_DOUBLET_AXES, and SYS_ID_DOUBLET_NB_AXES.

sys_id_doublet_axis_handler()

void sys_id_doublet_axis_handler

(

uint8_t

axis

)

Definition at line 129 of file sys_id_doublet.c.

References doublet_axis, and SYS_ID_DOUBLET_NB_AXES.

Referenced by perform_sys_id_auto_doublets().

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sys_id_doublet_init()

void sys_id_doublet_init

(

void

)

Definition at line 140 of file sys_id_doublet.c.

References current_doublet_values, DefaultPeriodic, doublet, doublet_extra_waiting_time_s, doublet_init(), doublet_length_s, doublet_mode, get_sys_time_float(), register_periodic_telemetry(), send_doublet(), set_current_doublet_values(), and SYS_ID_DOUBLET_NB_AXES.

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sys_id_doublet_mod_handler()

void sys_id_doublet_mod_handler

(

uint8_t

mode

)

Definition at line 136 of file sys_id_doublet.c.

References doublet_mode, and mode.

sys_id_doublet_run()

void sys_id_doublet_run

(

void

)

Definition at line 152 of file sys_id_doublet.c.

References doublet, doublet_active, doublet_is_running(), doublet_update(), get_sys_time_float(), radio_control, set_current_doublet_values(), stop_doublet(), sys_id_doublet_activate_handler(), and RadioControl::values.

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sys_id_doublet_running()

uint8_t sys_id_doublet_running

(

void

)

Definition at line 107 of file sys_id_doublet.c.

References doublet_active.

Variable Documentation

current_doublet_values

pprz_t current_doublet_values[SYS_ID_DOUBLET_NB_AXES]

static

Definition at line 73 of file sys_id_doublet.c.

Referenced by send_doublet(), set_current_doublet_values(), sys_id_doublet_add_values(), and sys_id_doublet_init().

doublet

struct doublet_t doublet

static

Definition at line 1 of file sys_id_doublet.c.

Referenced by doublet_init(), doublet_is_running(), doublet_reset(), doublet_update(), set_current_doublet_values(), start_doublet(), stop_doublet(), sys_id_doublet_activate_handler(), sys_id_doublet_init(), and sys_id_doublet_run().

doublet_active

uint8_t doublet_active = false

Definition at line 59 of file sys_id_doublet.c.

Referenced by send_doublet(), set_current_doublet_values(), start_doublet(), stop_doublet(), sys_id_doublet_activate_handler(), sys_id_doublet_run(), and sys_id_doublet_running().

doublet_amplitude

pprz_t doublet_amplitude = 0

Definition at line 64 of file sys_id_doublet.c.

Referenced by perform_sys_id_auto_doublets(), send_doublet(), set_current_doublet_values(), and sys_id_auto_doublets_on_deactivation().

doublet_axis

uint8_t doublet_axis = 0

Definition at line 62 of file sys_id_doublet.c.

Referenced by send_doublet(), set_current_doublet_values(), and sys_id_doublet_axis_handler().

doublet_extra_waiting_time_s

float doublet_extra_waiting_time_s = 0.0f

Definition at line 66 of file sys_id_doublet.c.

Referenced by sys_id_doublet_activate_handler(), and sys_id_doublet_init().

doublet_length_s

float doublet_length_s = 0.5f

Definition at line 65 of file sys_id_doublet.c.

Referenced by perform_sys_id_auto_doublets(), sys_id_doublet_activate_handler(), and sys_id_doublet_init().

doublet_mode

uint8_t doublet_mode = 0

Definition at line 60 of file sys_id_doublet.c.

Referenced by send_doublet(), sys_id_doublet_activate_handler(), sys_id_doublet_init(), and sys_id_doublet_mod_handler().

SYS_ID_ACTIVE_DOUBLET_AXES

const int8_t SYS_ID_ACTIVE_DOUBLET_AXES[] = SYS_ID_DOUBLET_AXES

static

Definition at line 70 of file sys_id_doublet.c.

Referenced by sys_id_doublet_add_values().