Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
motor_mixing.h File Reference

Motor Mixing. More...

#include "std.h"
#include "paparazzi.h"
#include "generated/airframe.h"
#include "motor_mixing_types.h"
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Data Structures

struct  MotorMixing


void motor_mixing_init (void)
void motor_mixing_run (bool motors_on, bool override_on, pprz_t in_cmd[])
void motor_mixing_run_spinup (uint32_t counter, uint32_t max_counter)


struct MotorMixing motor_mixing

Detailed Description

Motor Mixing.

Handles the mapping of roll/pitch/yaw commands to actual motor commands.

Definition in file motor_mixing.h.

Data Structure Documentation

◆ MotorMixing

struct MotorMixing

Definition at line 36 of file motor_mixing.h.

Data Fields
int32_t commands[MOTOR_MIXING_NB_MOTOR]
uint32_t nb_failure
uint32_t nb_saturation
bool override_enabled[MOTOR_MIXING_NB_MOTOR]
int32_t override_value[MOTOR_MIXING_NB_MOTOR]

Function Documentation

◆ motor_mixing_init()

◆ motor_mixing_run()

◆ motor_mixing_run_spinup()

void motor_mixing_run_spinup ( uint32_t  counter,
uint32_t  max_counter 

Variable Documentation

◆ motor_mixing