Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
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supervision.c File Reference

Supervision. More...

+ Include dependency graph for supervision.c:

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Macros

#define INT32_MIN   (-2147483647-1)
 
#define INT32_MAX   (2147483647)
 
#define SUPERVISION_STOP_MOTOR   0
 
#define SUPERVISION_MIN_MOTOR_STARTUP   SUPERVISION_MIN_MOTOR
 

Functions

void supervision_init (void)
 
 __attribute__ ((always_inline))
 
void supervision_run_spinup (uint32_t counter, uint32_t max_counter)
 
void supervision_run (bool_t motors_on, bool_t override_on, int32_t in_cmd[])
 

Variables

static const int32_t roll_coef [SUPERVISION_NB_MOTOR] = SUPERVISION_ROLL_COEF
 
static const int32_t pitch_coef [SUPERVISION_NB_MOTOR] = SUPERVISION_PITCH_COEF
 
static const int32_t yaw_coef [SUPERVISION_NB_MOTOR] = SUPERVISION_YAW_COEF
 
static const int32_t thrust_coef [SUPERVISION_NB_MOTOR] = SUPERVISION_THRUST_COEF
 
struct Supervision supervision
 

Detailed Description

Supervision.

Handles the mapping of roll/pitch/yaw commands to actual motor commands.

Definition in file supervision.c.

Macro Definition Documentation

#define INT32_MAX   (2147483647)

Definition at line 37 of file supervision.c.

Referenced by supervision_run().

#define INT32_MIN   (-2147483647-1)

Definition at line 33 of file supervision.c.

Referenced by supervision_run().

#define SUPERVISION_MIN_MOTOR_STARTUP   SUPERVISION_MIN_MOTOR

Definition at line 45 of file supervision.c.

Referenced by supervision_run_spinup().

#define SUPERVISION_STOP_MOTOR   0

Definition at line 41 of file supervision.c.

Referenced by supervision_init(), and supervision_run().

Function Documentation

__attribute__ ( (always_inline)  )

Definition at line 82 of file supervision.c.

References Supervision::commands, and supervision.

void supervision_init ( void  )
void supervision_run ( bool_t  motors_on,
bool_t  override_on,
int32_t  in_cmd[] 
)
void supervision_run_spinup ( uint32_t  counter,
uint32_t  max_counter 
)

Variable Documentation

const int32_t pitch_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_PITCH_COEF
static

Definition at line 62 of file supervision.c.

Referenced by supervision_init(), and supervision_run().

const int32_t roll_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_ROLL_COEF
static

Definition at line 61 of file supervision.c.

Referenced by supervision_init(), and supervision_run().

struct Supervision supervision
const int32_t thrust_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_THRUST_COEF
static

Definition at line 64 of file supervision.c.

Referenced by supervision_run().

const int32_t yaw_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_YAW_COEF
static

Definition at line 63 of file supervision.c.

Referenced by supervision_init(), and supervision_run().