Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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motor_mixing.h
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1 /*
2  * Copyright (C) 2008-2012 The Paparazzi Team
3  *
4  * This file is part of Paparazzi.
5  *
6  * Paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * Paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with Paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
28 #ifndef MOTOR_MIXING_H
29 #define MOTOR_MIXING_H
30 
31 #include "std.h"
32 #include "paparazzi.h"
33 #include "generated/airframe.h"
34 
35 struct MotorMixing {
36  int32_t commands[MOTOR_MIXING_NB_MOTOR];
37  int32_t trim[MOTOR_MIXING_NB_MOTOR];
38  bool_t override_enabled[MOTOR_MIXING_NB_MOTOR];
39  int32_t override_value[MOTOR_MIXING_NB_MOTOR];
42 };
43 
44 extern struct MotorMixing motor_mixing;
45 
46 extern void motor_mixing_init(void);
47 extern void motor_mixing_run(bool_t motors_on, bool_t override_on, pprz_t in_cmd[]);
48 extern void motor_mixing_run_spinup(uint32_t counter, uint32_t max_counter);
49 
50 #endif /* MOTOR_MIXING_H */
struct MotorMixing motor_mixing
Definition: motor_mixing.c:94
int16_t pprz_t
Definition: paparazzi.h:6
int32_t commands[MOTOR_MIXING_NB_MOTOR]
Definition: motor_mixing.h:36
int32_t trim[MOTOR_MIXING_NB_MOTOR]
Definition: motor_mixing.h:37
void motor_mixing_init(void)
Definition: motor_mixing.c:96
void motor_mixing_run_spinup(uint32_t counter, uint32_t max_counter)
Definition: motor_mixing.c:149
uint32_t nb_saturation
Definition: motor_mixing.h:40
unsigned long uint32_t
Definition: types.h:18
signed long int32_t
Definition: types.h:19
uint32_t nb_failure
Definition: motor_mixing.h:41
bool_t override_enabled[MOTOR_MIXING_NB_MOTOR]
Definition: motor_mixing.h:38
int32_t override_value[MOTOR_MIXING_NB_MOTOR]
Definition: motor_mixing.h:39
void motor_mixing_run(bool_t motors_on, bool_t override_on, pprz_t in_cmd[])
Definition: motor_mixing.c:171