sys_id_chirp.h

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/*
 * Copyright (C) Joost Meulenbeld
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
#ifndef SYS_ID_CHIRP_H
#define SYS_ID_CHIRP_H
 
#include "paparazzi.h"
 
 
extern uint8_t chirp_active;
extern pprz_t chirp_amplitude;
extern float chirp_noise_stdv_onaxis_ratio; // On-axis noise is amplitude times this value
extern float chirp_noise_stdv_offaxis; // Off-axis noise (the axes that the chirp is not applied to)
 
extern float chirp_fstart_hz;
extern float chirp_fstop_hz;
extern float chirp_length_s;
 
// Index of chirp axis in ACTIVE_CHIRP_AXES
extern uint8_t chirp_axis;
 
extern void sys_id_chirp_init(void);
 
// If chirp is running, update its values
extern void sys_id_chirp_run(void);
 
// Handlers for changing gcs variables
extern void sys_id_chirp_activate_handler(uint8_t activate); // Activate the chirp
extern void sys_id_chirp_axis_handler(uint8_t axis); // Check if new axis is valid
extern void sys_id_chirp_fstart_handler(float fstart); // Check if fstart is lower than current fend
extern void sys_id_chirp_fstop_handler(float fstop); // Check if fend is higher than current fstart
 
// Add the current chirp values to the in_cmd values if motors_on is true
extern void sys_id_chirp_add_values(bool motors_on, bool override_on, pprz_t in_cmd[]);
 
#endif // SYS_ID_CHIRP_H