throttle_curve.h

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/*
 * Copyright (C) 2015 C. De Wagter
 *               2015 Freek van Tienen <freek.v.tienen@gmail.com>
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
#ifndef THROTTLE_CURVE_H
#define THROTTLE_CURVE_H
 
#include "std.h"
#include "paparazzi.h"
#include "generated/airframe.h"
 
/* Throttle and collective curve */
struct curve_t {
  uint8_t nb_points;                          
  uint16_t throttle[THROTTLE_POINTS_NB];      
  uint16_t rpm[THROTTLE_POINTS_NB];           
  int16_t collective[THROTTLE_POINTS_NB];     
};
 
/* Main throttle curve structure */
struct throttle_curve_t {
  uint8_t mode;                               
  uint8_t nav_mode;                               
  uint8_t nb_curves;                          
  struct curve_t curves[THROTTLE_CURVES_NB];  
 
  uint16_t throttle;                          
  int16_t collective;                         
  uint16_t rpm;                               
 
  uint16_t rpm_meas;                          
  bool rpm_measured;                          
  float rpm_err_sum;                          
  float rpm_fb_p;                             
  float rpm_fb_i;
 
  int32_t throttle_trim;                             
  int32_t coll_trim;                          
};
extern struct throttle_curve_t throttle_curve;
 
/* External functions */
extern void throttle_curve_init(void);
void throttle_curve_run(pprz_t in_cmd[], uint8_t autopilot_mode);
void nav_throttle_curve_set(uint8_t mode);
 
#endif