#include "std.h"
#include "paparazzi.h"
#include "generated/airframe.h"

Include dependency graph for swashplate_mixing.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	swashplate_mixing_t

Macros
#define	MECH 0

#define	H120 1

#define	HR120 2

#define	SW_NB 3
	MECH (front/right/coll), H120 (front/rightback/leftback), HR120 (back/leftfront/rightfront) More...

#define	SW_FRONT 0

#define	SW_RIGHT 1

#define	SW_COLL 2

#define	SW_MIXING_ROLL_COEF { 0, -1, 0 }

#define	SW_MIXING_PITCH_COEF { 1, 0, 0 }

#define	SW_MIXING_COLL_COEF { 0, 0, 1 }

Functions
void	swashplate_mixing_init (void)
	Initialize the motor mixing and calculate the trim values. More...

void	swashplate_mixing_run (pprz_t in_cmd[])

Variables
struct swashplate_mixing_t	swashplate_mixing

Detailed Description

Author: C. De Wagter and Freek van Tienen Helicopter Swashplate Mixing

Definition in file swashplate_mixing.h.

Data Structure Documentation

◆ swashplate_mixing_t

struct swashplate_mixing_t

Definition at line 71 of file swashplate_mixing.h.

Data Fields
int32_t	commands[SW_NB]	The output commands.
int32_t	trim[SW_NB]	Trim values for the different actuators.

Macro Definition Documentation

◆ H120

#define H120 1

Definition at line 36 of file swashplate_mixing.h.

◆ HR120

#define HR120 2

Definition at line 37 of file swashplate_mixing.h.

◆ MECH

#define MECH 0

Definition at line 35 of file swashplate_mixing.h.

◆ SW_COLL

#define SW_COLL 2

Definition at line 46 of file swashplate_mixing.h.

◆ SW_FRONT

#define SW_FRONT 0

Definition at line 44 of file swashplate_mixing.h.

◆ SW_MIXING_COLL_COEF

#define SW_MIXING_COLL_COEF { 0, 0, 1 }

Definition at line 49 of file swashplate_mixing.h.

◆ SW_MIXING_PITCH_COEF

#define SW_MIXING_PITCH_COEF { 1, 0, 0 }

Definition at line 48 of file swashplate_mixing.h.

◆ SW_MIXING_ROLL_COEF

#define SW_MIXING_ROLL_COEF { 0, -1, 0 }

Definition at line 47 of file swashplate_mixing.h.

◆ SW_NB

#define SW_NB 3

MECH (front/right/coll), H120 (front/rightback/leftback), HR120 (back/leftfront/rightfront)

Definition at line 43 of file swashplate_mixing.h.

◆ SW_RIGHT

#define SW_RIGHT 1

Definition at line 45 of file swashplate_mixing.h.

Function Documentation

◆ swashplate_mixing_init()

void swashplate_mixing_init ( void )

Initialize the motor mixing and calculate the trim values.

Definition at line 60 of file swashplate_mixing.c.

References coll_coef, swashplate_mixing_t::commands, pitch_coef, roll_coef, SW_MIXING_TRIM_COLL, SW_MIXING_TRIM_PITCH, SW_MIXING_TRIM_ROLL, SW_NB, swashplate_mixing, and swashplate_mixing_t::trim.

◆ swashplate_mixing_run()

void swashplate_mixing_run ( pprz_t in_cmd[] )

Definition at line 79 of file swashplate_mixing.c.

References coll_coef, swashplate_mixing_t::commands, MAX_PPRZ, pitch_coef, roll_coef, SW_NB, swashplate_mixing, and swashplate_mixing_t::trim.

Variable Documentation

◆ swashplate_mixing

struct swashplate_mixing_t swashplate_mixing

Definition at line 31 of file swashplate_mixing.c.

Referenced by swashplate_mixing_init(), and swashplate_mixing_run().

Data Structures

Macros

Functions

Variables