Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
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_

◆ lag_rad_

◆ wave_active

◆ wave_amplitude

pprz_t wave_amplitude

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

Definition at line 47 of file sys_id_wave.h.

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