sys_id_wave.h File Reference

#include "paparazzi.h"

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Functions
void	sys_id_wave_init (void)
void	sys_id_wave_run (void)
void	sys_id_wave_axis_handler (uint8_t axis)
uint8_t	sys_id_wave_running (void)
void	sys_id_wave_frequency_hz_set (float frequency_hz_set)
void	sys_id_wave_lag_rad_set (float lag_rad_set)
void	sys_id_wave_activate_handler (uint8_t activate)
void	sys_id_wave_add_values (bool motors_on, bool override_on, pprz_t in_cmd[])

Variables
uint8_t	wave_active
uint8_t	wave_axis
pprz_t	wave_amplitude
float	frequency_hz_
float	lag_rad_

Detailed Description

Author

Alessandro Collicelli System excitation pure sine wave

This is the module implementation for a sine wave input. Use sys_id_wave 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_wave_add_values(autopilot_get_motors_on(),FALSE,values)">

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

Definition in file sys_id_wave.h.

Function Documentation

sys_id_wave_activate_handler()

void sys_id_wave_activate_handler

(

uint8_t

activate

)

Definition at line 100 of file sys_id_wave.c.

References frequency_hz_, get_sys_time_float(), lag_rad_, start_wave(), stop_wave(), wave_active, wave_init(), and wave_s.

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sys_id_wave_add_values()

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

Definition at line 159 of file sys_id_wave.c.

References ACTIVE_WAVE_AXES, current_wave_values, MAX_PPRZ, and WAVE_NB_AXES.

sys_id_wave_axis_handler()

void sys_id_wave_axis_handler

(

uint8_t

axis

)

Definition at line 110 of file sys_id_wave.c.

References wave_axis, and WAVE_NB_AXES.

sys_id_wave_frequency_hz_set()

void sys_id_wave_frequency_hz_set

(

float

frequency_hz_set

)

Definition at line 123 of file sys_id_wave.c.

References frequency_hz_, get_sys_time_float(), lag_rad_, wave_init(), and wave_s.

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sys_id_wave_init()

void sys_id_wave_init

(

void

)

Definition at line 136 of file sys_id_wave.c.

References DefaultPeriodic, frequency_hz_, get_sys_time_float(), lag_rad_, register_periodic_telemetry(), send_wave(), set_current_wave_values(), wave_init(), and wave_s.

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sys_id_wave_lag_rad_set()

void sys_id_wave_lag_rad_set

(

float

lag_rad_set

)

Definition at line 129 of file sys_id_wave.c.

References frequency_hz_, get_sys_time_float(), lag_rad_, wave_init(), and wave_s.

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sys_id_wave_run()

void sys_id_wave_run

(

void

)

Definition at line 144 of file sys_id_wave.c.

References get_sys_time_float(), set_current_wave_values(), stop_wave(), wave_active, wave_is_running(), wave_s, and wave_update().

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sys_id_wave_running()

uint8_t sys_id_wave_running

(

void

)

Definition at line 118 of file sys_id_wave.c.

References wave_active.

Variable Documentation

frequency_hz_

float frequency_hz_

extern

Definition at line 60 of file sys_id_wave.c.

Referenced by sys_id_wave_activate_handler(), sys_id_wave_frequency_hz_set(), sys_id_wave_init(), and sys_id_wave_lag_rad_set().

lag_rad_

float lag_rad_

extern

Definition at line 61 of file sys_id_wave.c.

Referenced by sys_id_wave_activate_handler(), sys_id_wave_frequency_hz_set(), sys_id_wave_init(), and sys_id_wave_lag_rad_set().

wave_active

uint8_t wave_active

extern

Definition at line 57 of file sys_id_wave.c.

Referenced by send_wave(), set_current_wave_values(), start_wave(), stop_wave(), sys_id_wave_activate_handler(), sys_id_wave_run(), and sys_id_wave_running().

wave_amplitude

pprz_t wave_amplitude

extern

Definition at line 59 of file sys_id_wave.c.

Referenced by send_wave(), and set_current_wave_values().

wave_axis

uint8_t wave_axis

extern

Definition at line 47 of file sys_id_wave.h.

Referenced by send_wave(), set_current_wave_values(), and sys_id_wave_axis_handler().