swashplate_mixing.c File Reference

#include "swashplate_mixing.h"
#include "throttle_curve.h"

Include dependency graph for swashplate_mixing.c:

Go to the source code of this file.

Macros
#define	SW_MIXING_TRIM_ROLL   0
#define	SW_MIXING_TRIM_PITCH   0
#define	SW_MIXING_TRIM_COLL   0

Functions
void	swashplate_mixing_init ()
	Initialize the motor mixing and calculate the trim values. More...
void	swashplate_mixing_run (pprz_t in_cmd[])

Variables
struct swashplate_mixing_t	swashplate_mixing
static const float	roll_coef [SW_NB] = SW_MIXING_ROLL_COEF
static const float	pitch_coef [SW_NB] = SW_MIXING_PITCH_COEF
static const float	coll_coef [SW_NB] = SW_MIXING_COLL_COEF

Detailed Description

Author

C. De Wagter and Freek van Tienen Helicopter Swashplate Mixing

Definition in file swashplate_mixing.c.

Macro Definition Documentation

#define SW_MIXING_TRIM_COLL   0

Definition at line 52 of file swashplate_mixing.c.

Referenced by swashplate_mixing_init().

#define SW_MIXING_TRIM_PITCH   0

Definition at line 46 of file swashplate_mixing.c.

Referenced by swashplate_mixing_init().

#define SW_MIXING_TRIM_ROLL   0

Definition at line 40 of file swashplate_mixing.c.

Referenced by swashplate_mixing_init().

Function Documentation

void swashplate_mixing_init

(

void

)

Initialize the motor mixing and calculate the trim values.

Definition at line 60 of file swashplate_mixing.c.

References coll_coef, swashplate_mixing_t::commands, pitch_coef, roll_coef, SW_MIXING_TRIM_COLL, SW_MIXING_TRIM_PITCH, SW_MIXING_TRIM_ROLL, SW_NB, and swashplate_mixing_t::trim.

void swashplate_mixing_run

(

pprz_t

in_cmd[]

)

Definition at line 79 of file swashplate_mixing.c.

References coll_coef, throttle_curve_t::collective, swashplate_mixing_t::commands, MAX_PPRZ, pitch_coef, roll_coef, SW_NB, throttle_curve, and swashplate_mixing_t::trim.

Variable Documentation

const float coll_coef[SW_NB] = SW_MIXING_COLL_COEF

static

Definition at line 36 of file swashplate_mixing.c.

Referenced by swashplate_mixing_init(), and swashplate_mixing_run().

const float pitch_coef[SW_NB] = SW_MIXING_PITCH_COEF

static

Definition at line 35 of file swashplate_mixing.c.

Referenced by swashplate_mixing_init(), and swashplate_mixing_run().

const float roll_coef[SW_NB] = SW_MIXING_ROLL_COEF

static

Definition at line 34 of file swashplate_mixing.c.

Referenced by swashplate_mixing_init(), and swashplate_mixing_run().

struct swashplate_mixing_t swashplate_mixing

Definition at line 31 of file swashplate_mixing.c.