pfc_actuators module

Preform a pre flight check of the actuators and validate by looking at the feedback.

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="pfc_actuators">
  b'<define name="PFC_ACTUATORS" value="{}" />\n    '
  b'<define name="PFC_ACTUATORS_MAX_ANGLE_ERROR" value="0.1" />\n    '
  b'<define name="PFC_ACTUATORS_MAX_RPM_ERROR" value="250" />\n    '
  b'<define name="PFC_ACTUATORS_DEBUG" value="false" />\n  '
</module>

Module configuration options

Define Options

• name: PFC_ACTUATORS value: {}
  Description: Struct containing the setup of the preflight check
• name: PFC_ACTUATORS_MAX_ANGLE_ERROR value: 0.1
  Description: Maximum allowed angle error in radians +/-
• name: PFC_ACTUATORS_MAX_RPM_ERROR value: 250
  Description: Maximum allowed RPM error +/-
• name: PFC_ACTUATORS_DEBUG value: false
  Description: Enable debug output in the GCS

Module functions

Init Functions

These initialization functions are called once on startup.

• pfc_actuators_init()

Files

Header Files

The following headers are automatically included in modules.h

• pfc_actuators.h

Source Files

• modules/checks/pfc_actuators.c

Raw pfc_actuators.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="pfc_actuators" dir="checks">
  <doc>
    <description>
      Preform a pre flight check of the actuators and validate by looking at the feedback.
    </description>
    <define name="PFC_ACTUATORS" value="{}" description="Struct containing the setup of the preflight check"/>
    <define name="PFC_ACTUATORS_MAX_ANGLE_ERROR" value="0.1" description="Maximum allowed angle error in radians +/-"/>
    <define name="PFC_ACTUATORS_MAX_RPM_ERROR" value="250" description="Maximum allowed RPM error +/-"/>
    <define name="PFC_ACTUATORS_DEBUG" value="false" description="Enable debug output in the GCS"/>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings name="Checks">
        <dl_setting var="act_start" min="0" step="1" max="1" values="OFF|START" handler="start" module="checks/pfc_actuators" type="fun"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>@datalink,preflight_checks</depends>
  </dep>
  <header>
    <file name="pfc_actuators.h"/>
  </header>
  <init fun="pfc_actuators_init()"/>
  <makefile>
    <file name="pfc_actuators.c"/>
    <test>
      <define name="PFC_ACTUATORS" value="{{}}"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>