Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
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actuators.h
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1 /* $Id$
2  *
3  * (c) 2003-2005 Pascal Brisset, Antoine Drouin
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, write to
19  * the Free Software Foundation, 59 Temple Place - Suite 330,
20  * Boston, MA 02111-1307, USA.
21  *
22  */
23 
28 #ifndef ACTUATORS_H
29 #define ACTUATORS_H
30 
31 #if defined ACTUATORS
32 
33 #include "paparazzi.h"
34 
36 #include "generated/airframe.h"
37 
39 extern void actuators_init( void );
40 
42 extern uint16_t actuators[SERVOS_NB];
43 
44 #include ACTUATORS
45 
46 #define SetServo(x, v) { \
47  Actuator(x) = SERVOS_TICS_OF_USEC(ChopServo(v,700,2400)); \
48  actuators[x] = v; \
49  }
50 
51 #else /* ACTUATORS */
52 
53 // define empty SetServo makro for sim
54 #define SetServo(x, v) {}
55 
56 #endif /* ACTUATORS */
57 
58 
59 #endif /* ACTUATORS_H */
unsigned short uint16_t
Definition: types.h:16
uint16_t actuators[SERVOS_NB]
Definition: actuators.c:31
void actuators_init(void)