sys_id_wave.c File Reference

#include "std.h"
#include "math.h"
#include "pprz_wave.h"
#include "sys_id_wave.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	WAVE_AXES   {COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW,COMMAND_THRUST}
#define	WAVE_ENABLED   TRUE
#define	WAVE_NB_AXES   sizeof ACTIVE_WAVE_AXES / sizeof ACTIVE_WAVE_AXES[0]

Functions
static void	set_current_wave_values (void)
static void	send_wave (struct transport_tx *trans, struct link_device *dev)
static void	start_wave (void)
static void	stop_wave (void)
void	sys_id_wave_activate_handler (uint8_t activate)
void	sys_id_wave_axis_handler (uint8_t axis)
uint8_t	sys_id_wave_running (void)
void	sys_id_wave_frequency_hz_set (float frequency_hz_set)
void	sys_id_wave_lag_rad_set (float lag_rad_set)
void	sys_id_wave_init (void)
void	sys_id_wave_run (void)
void	sys_id_wave_add_values (bool motors_on, bool override_on, pprz_t in_cmd[])

Variables
static struct wave_t	wave_s
uint8_t	wave_active = false
uint8_t	wave_axis = 0
pprz_t	wave_amplitude = 0
float	frequency_hz_ = 0.0f
float	lag_rad_ = 0.0f
static const int8_t	ACTIVE_WAVE_AXES [] = WAVE_AXES
static pprz_t	current_wave_values [WAVE_NB_AXES]

Detailed Description

Author

Alessandro Collicelli System excitation pure sine wave

This is the module implementation for the a sine wave input. Use sys_id_wave 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_wave_add_values(autopilot_get_motors_on(),FALSE,values)">

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

Definition in file sys_id_wave.c.

Macro Definition Documentation

WAVE_AXES

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

Definition at line 47 of file sys_id_wave.c.

WAVE_ENABLED

#define WAVE_ENABLED   TRUE

Definition at line 51 of file sys_id_wave.c.

WAVE_NB_AXES

#define WAVE_NB_AXES   sizeof ACTIVE_WAVE_AXES / sizeof ACTIVE_WAVE_AXES[0]

Definition at line 64 of file sys_id_wave.c.

Function Documentation

send_wave()

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

static

Definition at line 81 of file sys_id_wave.c.

References current_wave_values, dev, foo, wave_t::frequency_hz, wave_t::lag_rad, wave_active, wave_amplitude, wave_axis, and wave_s.

Referenced by sys_id_wave_init().

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set_current_wave_values()

static void set_current_wave_values ( void  )

static

Definition at line 69 of file sys_id_wave.c.

References wave_t::current_value, current_wave_values, wave_t::is_running, wave_active, wave_amplitude, wave_axis, WAVE_NB_AXES, and wave_s.

Referenced by start_wave(), stop_wave(), sys_id_wave_init(), and sys_id_wave_run().

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start_wave()

static void start_wave ( void  )

static

Definition at line 86 of file sys_id_wave.c.

References get_sys_time_float(), set_current_wave_values(), wave_active, wave_reset(), and wave_s.

Referenced by sys_id_wave_activate_handler().

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stop_wave()

static void stop_wave ( void  )

static

Definition at line 93 of file sys_id_wave.c.

References get_sys_time_float(), set_current_wave_values(), wave_active, wave_reset(), and wave_s.

Referenced by sys_id_wave_activate_handler(), and sys_id_wave_run().

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sys_id_wave_activate_handler()

void sys_id_wave_activate_handler

(

uint8_t

activate

)

Definition at line 100 of file sys_id_wave.c.

References foo, frequency_hz_, get_sys_time_float(), lag_rad_, start_wave(), stop_wave(), wave_active, wave_init(), and wave_s.

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sys_id_wave_add_values()

void sys_id_wave_add_values	(	bool	motors_on,
		bool	override_on,
		pprz_t	in_cmd[]
	)

Definition at line 159 of file sys_id_wave.c.

References ACTIVE_WAVE_AXES, current_wave_values, foo, MAX_PPRZ, and WAVE_NB_AXES.

sys_id_wave_axis_handler()

void sys_id_wave_axis_handler

(

uint8_t

axis

)

Definition at line 110 of file sys_id_wave.c.

References foo, wave_axis, and WAVE_NB_AXES.

sys_id_wave_frequency_hz_set()

void sys_id_wave_frequency_hz_set

(

float

frequency_hz_set

)

Definition at line 123 of file sys_id_wave.c.

References foo, frequency_hz_, get_sys_time_float(), lag_rad_, wave_init(), and wave_s.

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sys_id_wave_init()

void sys_id_wave_init

(

void

)

Definition at line 136 of file sys_id_wave.c.

References DefaultPeriodic, foo, frequency_hz_, get_sys_time_float(), lag_rad_, register_periodic_telemetry(), send_wave(), set_current_wave_values(), wave_init(), and wave_s.

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sys_id_wave_lag_rad_set()

void sys_id_wave_lag_rad_set

(

float

lag_rad_set

)

Definition at line 129 of file sys_id_wave.c.

References foo, frequency_hz_, get_sys_time_float(), lag_rad_, wave_init(), and wave_s.

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sys_id_wave_run()

void sys_id_wave_run

(

void

)

Definition at line 144 of file sys_id_wave.c.

References get_sys_time_float(), set_current_wave_values(), stop_wave(), wave_active, wave_is_running(), wave_s, and wave_update().

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sys_id_wave_running()

uint8_t sys_id_wave_running

(

void

)

Definition at line 118 of file sys_id_wave.c.

References wave_active.

Variable Documentation

ACTIVE_WAVE_AXES

const int8_t ACTIVE_WAVE_AXES[] = WAVE_AXES

static

Definition at line 63 of file sys_id_wave.c.

Referenced by sys_id_wave_add_values().

current_wave_values

pprz_t current_wave_values[WAVE_NB_AXES]

static

Definition at line 67 of file sys_id_wave.c.

Referenced by send_wave(), set_current_wave_values(), and sys_id_wave_add_values().

frequency_hz_

float frequency_hz_ = 0.0f

Definition at line 60 of file sys_id_wave.c.

Referenced by sys_id_wave_activate_handler(), sys_id_wave_frequency_hz_set(), sys_id_wave_init(), and sys_id_wave_lag_rad_set().

lag_rad_

float lag_rad_ = 0.0f

Definition at line 61 of file sys_id_wave.c.

Referenced by sys_id_wave_activate_handler(), sys_id_wave_frequency_hz_set(), sys_id_wave_init(), and sys_id_wave_lag_rad_set().

wave_active

uint8_t wave_active = false

Definition at line 57 of file sys_id_wave.c.

Referenced by send_wave(), set_current_wave_values(), start_wave(), stop_wave(), sys_id_wave_activate_handler(), sys_id_wave_run(), and sys_id_wave_running().

wave_amplitude

pprz_t wave_amplitude = 0

Definition at line 59 of file sys_id_wave.c.

Referenced by send_wave(), and set_current_wave_values().

wave_axis

uint8_t wave_axis = 0

Definition at line 58 of file sys_id_wave.c.

Referenced by send_wave(), set_current_wave_values(), and sys_id_wave_axis_handler().

wave_s

struct wave_t wave_s

static

Definition at line 56 of file sys_id_wave.c.

Referenced by send_wave(), set_current_wave_values(), start_wave(), stop_wave(), sys_id_wave_activate_handler(), sys_id_wave_frequency_hz_set(), sys_id_wave_init(), sys_id_wave_lag_rad_set(), and sys_id_wave_run().