Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
Data Structures | Macros | Functions | Variables
rotwing_state_V2.h File Reference
#include "std.h"
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Data Structures

struct  RotwingState
 
struct  RotWingStateSettings
 
struct  RotWingStateSkewing
 

Macros

#define ROTWING_STATE_HOVER   0
 Rotwing States. More...
 
#define ROTWING_STATE_SKEWING   1
 
#define ROTWING_STATE_FW   2
 
#define ROTWING_STATE_FW_HOV_MOT_IDLE   3
 
#define ROTWING_STATE_FW_HOV_MOT_OFF   4
 
#define ROTWING_STATE_FREE   5
 
#define ROTWING_CONFIGURATION_HOVER   0
 Rotwing Configurations. More...
 
#define ROTWING_CONFIGURATION_HYBRID   1
 
#define ROTWING_CONFIGURATION_EFFICIENT   2
 
#define ROTWING_CONFIGURATION_FREE   3
 
#define ROTWING_STATE_WING_QUAD_SETTING   0
 
#define ROTWING_STATE_WING_SCHEDULING_SETTING   1
 
#define ROTWING_STATE_WING_FW_SETTING   2
 
#define ROTWING_STATE_PITCH_QUAD_SETTING   0
 
#define ROTWING_STATE_PITCH_TRANSITION_SETTING   1
 
#define ROTWING_STATE_PITCH_FW_SETTING   2
 

Functions

void init_rotwing_state (void)
 
void periodic_rotwing_state (void)
 
void request_rotwing_state (uint8_t state)
 
void rotwing_request_configuration (uint8_t configuration)
 
void rotwing_state_skew_actuator_periodic (void)
 
void rotwing_state_force_skew_off (void)
 

Variables

struct RotwingState rotwing_state
 
struct RotWingStateSettings rotwing_state_settings
 
struct RotWingStateSkewing rotwing_state_skewing
 
float rotwing_state_max_hover_speed
 
bool hover_motors_active
 
bool bool_disable_hover_motors
 
bool demo_skew
 
float max_skew_demo
 
float min_skew_demo
 
float freq_skew_demo
 

Data Structure Documentation

◆ RotwingState

struct RotwingState

Definition at line 47 of file rotwing_state_V2.h.

Data Fields
uint8_t current_state
uint8_t desired_state
uint8_t requested_config

◆ RotWingStateSettings

struct RotWingStateSettings

Definition at line 61 of file rotwing_state_V2.h.

Data Fields
bool force_forward
bool hover_motors_active
bool hover_motors_disable
float max_v_climb
float max_v_descend
float nav_max_speed
uint8_t preferred_pitch_setting
float preferred_pitch_value
bool stall_protection
uint8_t wing_scheduler

◆ RotWingStateSkewing

struct RotWingStateSkewing

Definition at line 74 of file rotwing_state_V2.h.

Data Fields
bool airspeed_scheduling
bool force_rotation_angle
int32_t servo_pprz_cmd
float wing_angle_deg
float wing_angle_deg_sp

Macro Definition Documentation

◆ ROTWING_CONFIGURATION_EFFICIENT

#define ROTWING_CONFIGURATION_EFFICIENT   2

Definition at line 44 of file rotwing_state_V2.h.

◆ ROTWING_CONFIGURATION_FREE

#define ROTWING_CONFIGURATION_FREE   3

Definition at line 45 of file rotwing_state_V2.h.

◆ ROTWING_CONFIGURATION_HOVER

#define ROTWING_CONFIGURATION_HOVER   0

Rotwing Configurations.

Definition at line 42 of file rotwing_state_V2.h.

◆ ROTWING_CONFIGURATION_HYBRID

#define ROTWING_CONFIGURATION_HYBRID   1

Definition at line 43 of file rotwing_state_V2.h.

◆ ROTWING_STATE_FREE

#define ROTWING_STATE_FREE   5

Definition at line 38 of file rotwing_state_V2.h.

◆ ROTWING_STATE_FW

#define ROTWING_STATE_FW   2

Definition at line 35 of file rotwing_state_V2.h.

◆ ROTWING_STATE_FW_HOV_MOT_IDLE

#define ROTWING_STATE_FW_HOV_MOT_IDLE   3

Definition at line 36 of file rotwing_state_V2.h.

◆ ROTWING_STATE_FW_HOV_MOT_OFF

#define ROTWING_STATE_FW_HOV_MOT_OFF   4

Definition at line 37 of file rotwing_state_V2.h.

◆ ROTWING_STATE_HOVER

#define ROTWING_STATE_HOVER   0

Rotwing States.

Definition at line 33 of file rotwing_state_V2.h.

◆ ROTWING_STATE_PITCH_FW_SETTING

#define ROTWING_STATE_PITCH_FW_SETTING   2

Definition at line 59 of file rotwing_state_V2.h.

◆ ROTWING_STATE_PITCH_QUAD_SETTING

#define ROTWING_STATE_PITCH_QUAD_SETTING   0

Definition at line 57 of file rotwing_state_V2.h.

◆ ROTWING_STATE_PITCH_TRANSITION_SETTING

#define ROTWING_STATE_PITCH_TRANSITION_SETTING   1

Definition at line 58 of file rotwing_state_V2.h.

◆ ROTWING_STATE_SKEWING

#define ROTWING_STATE_SKEWING   1

Definition at line 34 of file rotwing_state_V2.h.

◆ ROTWING_STATE_WING_FW_SETTING

#define ROTWING_STATE_WING_FW_SETTING   2

Definition at line 55 of file rotwing_state_V2.h.

◆ ROTWING_STATE_WING_QUAD_SETTING

#define ROTWING_STATE_WING_QUAD_SETTING   0

Definition at line 53 of file rotwing_state_V2.h.

◆ ROTWING_STATE_WING_SCHEDULING_SETTING

#define ROTWING_STATE_WING_SCHEDULING_SETTING   1

Definition at line 54 of file rotwing_state_V2.h.

Function Documentation

◆ init_rotwing_state()

void init_rotwing_state ( void  )

Definition at line 208 of file rotwing_state_V2.c.

References RotWingStateSkewing::airspeed_scheduling, RotwingState::current_state, DefaultPeriodic, demo_skew, RotwingState::desired_state, RotWingStateSkewing::force_rotation_angle, MAX_PPRZ, RotWingStateSettings::preferred_pitch_value, register_periodic_telemetry(), RotwingState::requested_config, ROTWING_CONFIGURATION_HOVER, rotwing_state, ROTWING_STATE_ACT_FEEDBACK_ID, rotwing_state_feedback_cb(), rotwing_state_feedback_ev, ROTWING_STATE_HOVER, rotwing_state_settings, rotwing_state_skewing, send_rotating_wing_state(), RotWingStateSkewing::servo_pprz_cmd, RotWingStateSkewing::wing_angle_deg, and RotWingStateSkewing::wing_angle_deg_sp.

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◆ periodic_rotwing_state()

void periodic_rotwing_state ( void  )

Definition at line 232 of file rotwing_state_V2.c.

References Stabilization::att_submode, bool_disable_hover_motors, eulers_zxy, float_eulers_of_quat_zxy(), guidance_h, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_NONE, hover_motors_active, HorizontalGuidance::mode, Stabilization::mode, RotWingStateSettings::preferred_pitch_setting, RotWingStateSettings::preferred_pitch_value, RotwingState::requested_config, rotwing_check_set_current_state(), ROTWING_CONFIGURATION_FREE, ROTWING_HALF_SKEW_ANGLE_DEG, rotwing_state, rotwing_state_free_processor(), ROTWING_STATE_FW_PREF_PITCH, ROTWING_STATE_HOVER_PREF_PITCH, ROTWING_STATE_PITCH_FW_SETTING, ROTWING_STATE_PITCH_QUAD_SETTING, ROTWING_STATE_PITCH_TRANSITION_SETTING, rotwing_state_set_fw_settings(), rotwing_state_set_hover_settings(), rotwing_state_settings, rotwing_state_skewer(), rotwing_state_skewing, ROTWING_STATE_TRANSITION_PREF_PITCH, rotwing_switch_state(), stabilization, STABILIZATION_ATT_SUBMODE_FORWARD, STABILIZATION_MODE_ATTITUDE, stateGetAirspeed_f(), stateGetNedToBodyQuat_f(), FloatEulers::theta, and RotWingStateSkewing::wing_angle_deg.

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◆ request_rotwing_state()

void request_rotwing_state ( uint8_t  state)

Definition at line 296 of file rotwing_state_V2.c.

References RotwingState::desired_state, rotwing_state, ROTWING_STATE_FW_HOV_MOT_OFF, and state.

Referenced by rotwing_request_configuration(), and rotwing_state_free_processor().

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◆ rotwing_request_configuration()

void rotwing_request_configuration ( uint8_t  configuration)

Definition at line 304 of file rotwing_state_V2.c.

References request_rotwing_state(), RotwingState::requested_config, ROTWING_CONFIGURATION_EFFICIENT, ROTWING_CONFIGURATION_FREE, ROTWING_CONFIGURATION_HOVER, ROTWING_CONFIGURATION_HYBRID, rotwing_state, ROTWING_STATE_FW_HOV_MOT_OFF, ROTWING_STATE_HOVER, and ROTWING_STATE_SKEWING.

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◆ rotwing_state_force_skew_off()

void rotwing_state_force_skew_off ( void  )

Definition at line 202 of file rotwing_state_V2.c.

References demo_skew, RotWingStateSkewing::force_rotation_angle, and rotwing_state_skewing.

◆ rotwing_state_skew_actuator_periodic()

void rotwing_state_skew_actuator_periodic ( void  )

Definition at line 714 of file rotwing_state_V2.c.

References ACT_FEEDBACK_UAVCAN_ID, commands, act_feedback_t::idx, MAX_PPRZ, rotwing_state_skewing, RotWingStateSkewing::servo_pprz_cmd, speed_sp, RotWingStateSkewing::wing_angle_deg, and RotWingStateSkewing::wing_angle_deg_sp.

Variable Documentation

◆ bool_disable_hover_motors

bool bool_disable_hover_motors
extern

Definition at line 159 of file rotwing_state_V2.c.

Referenced by periodic_rotwing_state(), and rotwing_state_set_state_settings().

◆ demo_skew

bool demo_skew
extern

Definition at line 161 of file rotwing_state_V2.c.

Referenced by init_rotwing_state(), rotwing_state_force_skew_off(), and rotwing_state_skewer().

◆ freq_skew_demo

float freq_skew_demo
extern

Definition at line 164 of file rotwing_state_V2.c.

Referenced by rotwing_state_skewer().

◆ hover_motors_active

bool hover_motors_active
extern

Definition at line 158 of file rotwing_state_V2.c.

Referenced by periodic_rotwing_state(), and rotwing_state_set_state_settings().

◆ max_skew_demo

float max_skew_demo
extern

Definition at line 162 of file rotwing_state_V2.c.

Referenced by rotwing_state_skewer().

◆ min_skew_demo

float min_skew_demo
extern

Definition at line 163 of file rotwing_state_V2.c.

Referenced by rotwing_state_skewer().

◆ rotwing_state

struct RotwingState rotwing_state
extern

Definition at line 112 of file rotwing_state.c.

Referenced by guidance_indi_hybrid_set_wls_settings(), init_rotwing_state(), periodic_rotwing_state(), request_rotwing_state(), rotwing_check_set_current_state(), rotwing_request_configuration(), rotwing_state_feedback_cb(), rotwing_state_hover_motors_running(), rotwing_state_init(), rotwing_state_periodic(), rotwing_state_pusher_motor_running(), rotwing_state_set(), rotwing_state_set_skewing_settings(), rotwing_state_skew_angle_valid(), rotwing_state_skewer(), rotwing_switch_state(), and send_rotating_wing_state().

◆ rotwing_state_max_hover_speed

float rotwing_state_max_hover_speed
extern

Definition at line 151 of file rotwing_state_V2.c.

Referenced by rotwing_state_set_hover_settings().

◆ rotwing_state_settings

struct RotWingStateSettings rotwing_state_settings
extern

Definition at line 139 of file rotwing_state_V2.c.

Referenced by G1G2_oneloop(), init_rotwing_state(), oneloop_andi_run(), periodic_rotwing_state(), reshape_wind(), rotwing_state_set_fw_hov_mot_idle_settings(), rotwing_state_set_fw_hov_mot_off_settings(), rotwing_state_set_fw_settings(), rotwing_state_set_hover_settings(), rotwing_state_set_skewing_settings(), and rotwing_state_set_state_settings().

◆ rotwing_state_skewing

struct RotWingStateSkewing rotwing_state_skewing
extern

Definition at line 139 of file rotwing_state_V2.c.

Referenced by init_rotwing_state(), periodic_rotwing_state(), rotwing_check_set_current_state(), rotwing_state_feedback_cb(), rotwing_state_force_skew_off(), rotwing_state_set_state_settings(), rotwing_state_skew_actuator_periodic(), rotwing_state_skewer(), and send_rotating_wing_state().