swashplate_mixing.h File Reference

#include "std.h"
#include "paparazzi.h"
#include "generated/airframe.h"

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Data Structures
struct	swashplate_mixing_t

Macros
#define	MECH   0
#define	H120   1
#define	HR120   2
#define	SW_NB   3
	MECH (front/right/coll), H120 (front/rightback/leftback), HR120 (back/leftfront/rightfront) More...
#define	SW_FRONT   0
#define	SW_RIGHT   1
#define	SW_COLL   2
#define	SW_MIXING_ROLL_COEF   { 0, -1, 0 }
#define	SW_MIXING_PITCH_COEF   { 1, 0, 0 }
#define	SW_MIXING_COLL_COEF   { 0, 0, 1 }

Functions
void	swashplate_mixing_init (void)
	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

Detailed Description

Author

C. De Wagter and Freek van Tienen Helicopter Swashplate Mixing

Definition in file swashplate_mixing.h.

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Data Structure Documentation

struct swashplate_mixing_t

Definition at line 71 of file swashplate_mixing.h.

Data Fields
int32_t	commands[SW_NB]	The output commands.
int32_t	trim[SW_NB]	Trim values for the different actuators.

Macro Definition Documentation

#define H120   1

Definition at line 36 of file swashplate_mixing.h.

#define HR120   2

Definition at line 37 of file swashplate_mixing.h.

#define MECH   0

Definition at line 35 of file swashplate_mixing.h.

#define SW_COLL   2

Definition at line 46 of file swashplate_mixing.h.

#define SW_FRONT   0

Definition at line 44 of file swashplate_mixing.h.

#define SW_MIXING_COLL_COEF   { 0, 0, 1 }

Definition at line 49 of file swashplate_mixing.h.

#define SW_MIXING_PITCH_COEF   { 1, 0, 0 }

Definition at line 48 of file swashplate_mixing.h.

#define SW_MIXING_ROLL_COEF   { 0, -1, 0 }

Definition at line 47 of file swashplate_mixing.h.

#define SW_NB   3

MECH (front/right/coll), H120 (front/rightback/leftback), HR120 (back/leftfront/rightfront)

Definition at line 43 of file swashplate_mixing.h.

Referenced by swashplate_mixing_init(), and swashplate_mixing_run().

#define SW_RIGHT   1

Definition at line 45 of file swashplate_mixing.h.

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

struct swashplate_mixing_t swashplate_mixing

Definition at line 31 of file swashplate_mixing.c.