40 #include "generated/airframe.h"
44 #define DOUBLET_AXES {COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW,COMMAND_THRUST}
47 #ifndef DOUBLET_ENABLED
48 #define DOUBLET_ENABLED TRUE
67 #define DOUBLET_NB_AXES sizeof ACTIVE_DOUBLET_AXES / sizeof ACTIVE_DOUBLET_AXES[0]
bool doublet_is_running(struct doublet_t *doublet, float current_time_s)
void doublet_init(struct doublet_t *doublet, float length_s, float extra_waiting_time_s, float current_time_s, bool mod3211)
void doublet_reset(struct doublet_t *doublet, float current_time_s)
float doublet_update(struct doublet_t *doublet, float current_time_s)
Initialize with doublet_init.
static uint8_t mode
mode holds the current sonar mode mode = 0 used at high altitude, uses 16 wave patterns mode = 1 used...
static const struct usb_device_descriptor dev
static pprz_t current_doublet_values[DOUBLET_NB_AXES]
static struct doublet_t doublet
void sys_id_doublet_activate_handler(uint8_t activate)
static void send_doublet(struct transport_tx *trans, struct link_device *dev)
float doublet_extra_waiting_time_s
static void set_current_doublet_values(void)
void sys_id_doublet_add_values(bool motors_on, bool override_on, pprz_t in_cmd[])
void sys_id_doublet_init(void)
static const int8_t ACTIVE_DOUBLET_AXES[]
void sys_id_doublet_mod3211_handler(uint8_t mode)
void sys_id_doublet_axis_handler(uint8_t axis)
void sys_id_doublet_run(void)
uint8_t sys_id_doublet_running(void)
static void stop_doublet(void)
static void start_doublet(void)
uint8_t doublet_mode_3211
Architecture independent timing functions.
static float get_sys_time_float(void)
Get the time in seconds since startup.
int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
Register a telemetry callback function.
Periodic telemetry system header (includes downlink utility and generated code).
#define DefaultPeriodic
Set default periodic telemetry.
int int32_t
Typedef defining 32 bit int type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
signed char int8_t
Typedef defining 8 bit char type.