Paparazzi UAS
v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
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motor_mixing.h
Go to the documentation of this file.
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/*
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* Copyright (C) 2008-2012 The Paparazzi Team
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*
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* This file is part of Paparazzi.
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*
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* Paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* Paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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#ifndef MOTOR_MIXING_H
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#define MOTOR_MIXING_H
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#include "
std.h
"
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#include "
paparazzi.h
"
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#include "generated/airframe.h"
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#include "
motor_mixing_types.h
"
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struct
MotorMixing
{
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int32_t
commands
[MOTOR_MIXING_NB_MOTOR];
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int32_t
trim
[MOTOR_MIXING_NB_MOTOR];
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bool
override_enabled
[MOTOR_MIXING_NB_MOTOR];
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int32_t
override_value
[MOTOR_MIXING_NB_MOTOR];
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uint32_t
nb_saturation
;
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uint32_t
nb_failure
;
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};
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extern
struct
MotorMixing
motor_mixing
;
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extern
void
motor_mixing_init
(
void
);
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extern
void
motor_mixing_run
(
bool
motors_on,
bool
override_on,
pprz_t
in_cmd[]);
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extern
void
motor_mixing_run_spinup
(
uint32_t
counter
,
uint32_t
max_counter);
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#endif
/* MOTOR_MIXING_H */
MotorMixing::trim
int32_t trim[MOTOR_MIXING_NB_MOTOR]
Definition:
motor_mixing.h:38
MotorMixing
Definition:
motor_mixing.h:36
motor_mixing_init
void motor_mixing_init(void)
Definition:
motor_mixing.c:109
MotorMixing::nb_failure
uint32_t nb_failure
Definition:
motor_mixing.h:42
MotorMixing::override_enabled
bool override_enabled[MOTOR_MIXING_NB_MOTOR]
Definition:
motor_mixing.h:39
motor_mixing
struct MotorMixing motor_mixing
Definition:
motor_mixing.c:94
motor_mixing_types.h
uint32_t
unsigned long uint32_t
Definition:
types.h:18
counter
int32_t counter
Definition:
avoid_navigation.c:55
paparazzi.h
std.h
motor_mixing_run
void motor_mixing_run(bool motors_on, bool override_on, pprz_t in_cmd[])
Definition:
motor_mixing.c:193
pprz_t
int16_t pprz_t
Definition:
paparazzi.h:6
MotorMixing::override_value
int32_t override_value[MOTOR_MIXING_NB_MOTOR]
Definition:
motor_mixing.h:40
MotorMixing::nb_saturation
uint32_t nb_saturation
Definition:
motor_mixing.h:41
motor_mixing_run_spinup
void motor_mixing_run_spinup(uint32_t counter, uint32_t max_counter)
Definition:
motor_mixing.c:168
int32_t
signed long int32_t
Definition:
types.h:19
MotorMixing::commands
int32_t commands[MOTOR_MIXING_NB_MOTOR]
Definition:
motor_mixing.h:37
sw
airborne
subsystems
actuators
motor_mixing.h
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