throttle_curve.h File Reference

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

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Data Structures
struct	curve_t
struct	throttle_curve_t

Functions
void	throttle_curve_init (void)
	Initialize the default throttle curve values. More...
void	throttle_curve_run (pprz_t in_cmd[], uint8_t autopilot_mode)
	Run the throttle curve and generate the output throttle and pitch This depends on the FMODE(flight mode) and TRHUST command. More...
void	nav_throttle_curve_set (uint8_t mode)
	Set a specific throttle curve based on the mode given with this function. More...

Variables
struct throttle_curve_t	throttle_curve

Detailed Description

Author

C. De Wagter and Freek van Tienen Throttle Curve Mixers

Definition in file throttle_curve.h.

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Data Structure Documentation

curve_t

struct curve_t

Definition at line 35 of file throttle_curve.h.

Data Fields
int16_t	collective[THROTTLE_POINTS_NB]	The collective points in the curve.
uint8_t	nb_points	The number of points in the curve.
uint16_t	rpm[THROTTLE_POINTS_NB]	RPM points in the curve.
uint16_t	throttle[THROTTLE_POINTS_NB]	Throttle points in the curve.

throttle_curve_t

struct throttle_curve_t

Definition at line 43 of file throttle_curve.h.

Collaboration diagram for throttle_curve_t:

Data Fields
int32_t	coll_trim	Collective trim.
int16_t	collective	Output collective of the throttle curve.
struct curve_t	curves[THROTTLE_CURVES_NB]	Throttle/pitch curves.
uint8_t	mode	Flight mode.
uint8_t	nav_mode	Nav Flight mode.
uint8_t	nb_curves	The number of throttle/pitch curves.
uint16_t	rpm	Output RPM of the throttle curve.
float	rpm_err_sum	Summed RPM error.
float	rpm_fb_i
float	rpm_fb_p	RPM feedback p gain.
uint16_t	rpm_meas	RPM measured.
bool	rpm_measured	Whenever the RPM is measured.
uint16_t	throttle	Output thrust(throttle) of the throttle curve.
int32_t	throttle_trim	RPM feedback i gain.

Function Documentation

nav_throttle_curve_set()

void nav_throttle_curve_set

(

uint8_t

mode

)

Set a specific throttle curve based on the mode given with this function.

Definition at line 208 of file throttle_curve.c.

References mode, throttle_curve_t::nav_mode, and throttle_curve.

throttle_curve_init()

void throttle_curve_init

(

void

)

Initialize the default throttle curve values.

Definition at line 79 of file throttle_curve.c.

References throttle_curve_t::coll_trim, curve_t::collective, throttle_curve_t::collective, throttle_curve_t::curves, DefaultPeriodic, throttle_curve_t::mode, throttle_curve_t::nav_mode, register_periodic_telemetry(), rpm_cb(), throttle_curve_t::rpm_err_sum, rpm_ev, throttle_curve_t::rpm_fb_i, throttle_curve_t::rpm_fb_p, throttle_curve_t::rpm_measured, curve_t::throttle, throttle_curve_t::throttle, throttle_curve, THROTTLE_CURVE_RPM_FB_I, THROTTLE_CURVE_RPM_FB_P, THROTTLE_CURVE_RPM_ID, throttle_curve_send_telem(), and throttle_curve_t::throttle_trim.

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throttle_curve_run()

void throttle_curve_run	(	pprz_t	in_cmd[],
		uint8_t	autopilot_mode
	)

Run the throttle curve and generate the output throttle and pitch This depends on the FMODE(flight mode) and TRHUST command.

Definition at line 115 of file throttle_curve.c.

References AP_MODE_FAILSAFE, AP_MODE_NAV, autopilot_get_motors_on(), cmds, throttle_curve_t::coll_trim, curve_t::collective, throttle_curve_t::collective, throttle_curve_t::curves, MAX_PPRZ, throttle_curve_t::mode, mode, throttle_curve_t::nav_mode, curve_t::nb_points, radio_control, curve_t::rpm, throttle_curve_t::rpm, throttle_curve_t::rpm_err_sum, throttle_curve_t::rpm_fb_i, throttle_curve_t::rpm_fb_p, throttle_curve_t::rpm_meas, throttle_curve_t::rpm_measured, curve_t::throttle, throttle_curve_t::throttle, throttle_curve, THROTTLE_CURVE_RPM_INC_LIMIT, THROTTLE_CURVE_SWITCH_VAL, throttle_curve_t::throttle_trim, and RadioControl::values.

Referenced by main_periodic().

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Variable Documentation

throttle_curve

struct throttle_curve_t throttle_curve

Definition at line 60 of file throttle_curve.c.

Referenced by nav_throttle_curve_set(), rpm_cb(), throttle_curve_init(), throttle_curve_run(), and throttle_curve_send_telem().