sys_id_doublet.c File Reference

#include "std.h"
#include "sys_id_doublet.h"
#include "pprz_doublet.h"
#include "modules/datalink/telemetry.h"
#include "generated/airframe.h"
#include "mcu_periph/sys_time.h"

Include dependency graph for sys_id_doublet.c:

Go to the source code of this file.

Macros
#define	DOUBLET_AXES   {COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW,COMMAND_THRUST}
#define	DOUBLET_ENABLED   TRUE
#define	DOUBLET_NB_AXES   sizeof ACTIVE_DOUBLET_AXES / sizeof ACTIVE_DOUBLET_AXES[0]

Functions
static void	set_current_doublet_values (void)
static void	send_doublet (struct transport_tx *trans, struct link_device *dev)
static void	start_doublet (void)
static void	stop_doublet (void)
uint8_t	sys_id_doublet_running (void)
void	sys_id_doublet_activate_handler (uint8_t activate)
void	sys_id_doublet_axis_handler (uint8_t axis)
void	sys_id_doublet_mod3211_handler (uint8_t mode)
void	sys_id_doublet_init (void)
void	sys_id_doublet_run (void)
void	sys_id_doublet_add_values (bool motors_on, bool override_on, pprz_t in_cmd[])

Variables
static struct doublet_t	doublet
uint8_t	doublet_active = false
uint8_t	doublet_mode_3211 = false
uint8_t	doublet_axis = 0
pprz_t	doublet_amplitude = 4500
float	doublet_length_s = 20.0f
float	doublet_extra_waiting_time_s = 0.0f
static const int8_t	ACTIVE_DOUBLET_AXES [] = DOUBLET_AXES
static pprz_t	current_doublet_values [DOUBLET_NB_AXES]

Detailed Description

Author

Alessandro Collicelli System identification doublet

This is the module implementation for the doublet maneuver. Use sys_id_chirp by adding the module to your airframe file and adding the following line to the top of the <command_laws> section of your airframe file:

<call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,values)">

In the GCS you can then start and stop the doublet, change type of doublet maneuvre. Documentation of the specific options can be found in the module xml file.

Definition in file sys_id_doublet.c.

Macro Definition Documentation

DOUBLET_AXES

#define DOUBLET_AXES   {COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW,COMMAND_THRUST}

Definition at line 44 of file sys_id_doublet.c.

DOUBLET_ENABLED

#define DOUBLET_ENABLED   TRUE

Definition at line 48 of file sys_id_doublet.c.

DOUBLET_NB_AXES

#define DOUBLET_NB_AXES   sizeof ACTIVE_DOUBLET_AXES / sizeof ACTIVE_DOUBLET_AXES[0]

Definition at line 67 of file sys_id_doublet.c.

Function Documentation

send_doublet()

static void send_doublet ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 83 of file sys_id_doublet.c.

References current_doublet_values, dev, doublet_active, doublet_amplitude, doublet_axis, and doublet_mode_3211.

Referenced by sys_id_doublet_init().

Here is the caller graph for this function:

set_current_doublet_values()

static void set_current_doublet_values ( void  )

static

Definition at line 71 of file sys_id_doublet.c.

References current_doublet_values, doublet_t::current_value, doublet, doublet_active, doublet_amplitude, doublet_axis, and DOUBLET_NB_AXES.

Referenced by start_doublet(), stop_doublet(), sys_id_doublet_init(), and sys_id_doublet_run().

Here is the caller graph for this function:

start_doublet()

static void start_doublet ( void  )

static

Definition at line 89 of file sys_id_doublet.c.

References doublet, doublet_active, doublet_reset(), get_sys_time_float(), and set_current_doublet_values().

Referenced by sys_id_doublet_activate_handler().

Here is the call graph for this function:

Here is the caller graph for this function:

stop_doublet()

static void stop_doublet ( void  )

static

Definition at line 96 of file sys_id_doublet.c.

References doublet, doublet_active, doublet_reset(), get_sys_time_float(), and set_current_doublet_values().

Referenced by sys_id_doublet_activate_handler(), and sys_id_doublet_run().

Here is the call graph for this function:

Here is the caller graph for this function:

sys_id_doublet_activate_handler()

void sys_id_doublet_activate_handler

(

uint8_t

activate

)

Definition at line 107 of file sys_id_doublet.c.

References doublet, doublet_active, doublet_extra_waiting_time_s, doublet_init(), doublet_length_s, doublet_mode_3211, get_sys_time_float(), start_doublet(), and stop_doublet().

Here is the call graph for this function:

sys_id_doublet_add_values()

void sys_id_doublet_add_values	(	bool	motors_on,
		bool	override_on,
		pprz_t	in_cmd[]
	)

Definition at line 155 of file sys_id_doublet.c.

References ACTIVE_DOUBLET_AXES, current_doublet_values, DOUBLET_NB_AXES, and MAX_PPRZ.

sys_id_doublet_axis_handler()

void sys_id_doublet_axis_handler

(

uint8_t

axis

)

Definition at line 118 of file sys_id_doublet.c.

References doublet_axis, and DOUBLET_NB_AXES.

sys_id_doublet_init()

void sys_id_doublet_init

(

void

)

Definition at line 129 of file sys_id_doublet.c.

References current_doublet_values, DefaultPeriodic, doublet, doublet_extra_waiting_time_s, doublet_init(), doublet_length_s, doublet_mode_3211, DOUBLET_NB_AXES, get_sys_time_float(), register_periodic_telemetry(), send_doublet(), and set_current_doublet_values().

Here is the call graph for this function:

sys_id_doublet_mod3211_handler()

void sys_id_doublet_mod3211_handler

(

uint8_t

mode

)

Definition at line 125 of file sys_id_doublet.c.

References doublet_mode_3211, and mode.

sys_id_doublet_run()

void sys_id_doublet_run

(

void

)

Definition at line 141 of file sys_id_doublet.c.

References doublet, doublet_active, doublet_is_running(), doublet_update(), get_sys_time_float(), set_current_doublet_values(), and stop_doublet().

Here is the call graph for this function:

sys_id_doublet_running()

uint8_t sys_id_doublet_running

(

void

)

Definition at line 103 of file sys_id_doublet.c.

References doublet_active.

Variable Documentation

ACTIVE_DOUBLET_AXES

const int8_t ACTIVE_DOUBLET_AXES[] = DOUBLET_AXES

static

Definition at line 66 of file sys_id_doublet.c.

Referenced by sys_id_doublet_add_values().

current_doublet_values

pprz_t current_doublet_values[DOUBLET_NB_AXES]

static

Definition at line 69 of file sys_id_doublet.c.

Referenced by send_doublet(), set_current_doublet_values(), sys_id_doublet_add_values(), and sys_id_doublet_init().

doublet

struct doublet_t doublet

static

Definition at line 1 of file sys_id_doublet.c.

Referenced by doublet_init(), doublet_is_running(), doublet_reset(), doublet_update(), set_current_doublet_values(), start_doublet(), stop_doublet(), sys_id_doublet_activate_handler(), sys_id_doublet_init(), and sys_id_doublet_run().

doublet_active

uint8_t doublet_active = false

Definition at line 55 of file sys_id_doublet.c.

Referenced by send_doublet(), set_current_doublet_values(), start_doublet(), stop_doublet(), sys_id_doublet_activate_handler(), sys_id_doublet_run(), and sys_id_doublet_running().

doublet_amplitude

pprz_t doublet_amplitude = 4500

Definition at line 60 of file sys_id_doublet.c.

Referenced by send_doublet(), and set_current_doublet_values().

doublet_axis

uint8_t doublet_axis = 0

Definition at line 58 of file sys_id_doublet.c.

Referenced by send_doublet(), set_current_doublet_values(), and sys_id_doublet_axis_handler().

doublet_extra_waiting_time_s

float doublet_extra_waiting_time_s = 0.0f

Definition at line 62 of file sys_id_doublet.c.

Referenced by sys_id_doublet_activate_handler(), and sys_id_doublet_init().

doublet_length_s

float doublet_length_s = 20.0f

Definition at line 61 of file sys_id_doublet.c.

Referenced by sys_id_doublet_activate_handler(), and sys_id_doublet_init().

doublet_mode_3211

uint8_t doublet_mode_3211 = false

Definition at line 56 of file sys_id_doublet.c.

Referenced by send_doublet(), sys_id_doublet_activate_handler(), sys_id_doublet_init(), and sys_id_doublet_mod3211_handler().