Paparazzi UAS
v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
sys_id_chirp.h
Go to the documentation of this file.
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/*
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* Copyright (C) Joost Meulenbeld
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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, see
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* <http://www.gnu.org/licenses/>.
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*/
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#ifndef SYS_ID_CHIRP_H
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#define SYS_ID_CHIRP_H
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#include "
paparazzi.h
"
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extern
uint8_t
chirp_active
;
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extern
pprz_t
chirp_amplitude
;
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extern
float
chirp_noise_stdv_onaxis_ratio
;
// On-axis noise is amplitude times this value
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extern
float
chirp_noise_stdv_offaxis
;
// Off-axis noise (the axes that the chirp is not applied to)
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extern
float
chirp_fstart_hz
;
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extern
float
chirp_fstop_hz
;
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extern
float
chirp_length_s
;
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// Index of chirp axis in ACTIVE_CHIRP_AXES
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extern
uint8_t
chirp_axis
;
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extern
void
sys_id_chirp_init
(
void
);
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// If chirp is running, update its values
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extern
void
sys_id_chirp_run
(
void
);
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// Handlers for changing gcs variables
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extern
void
sys_id_chirp_activate_handler
(
uint8_t
activate);
// Activate the chirp
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extern
void
sys_id_chirp_axis_handler
(
uint8_t
axis);
// Check if new axis is valid
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extern
void
sys_id_chirp_fstart_handler
(
float
fstart);
// Check if fstart is lower than current fend
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extern
void
sys_id_chirp_fstop_handler
(
float
fstop);
// Check if fend is higher than current fstart
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// Add the current chirp values to the in_cmd values if motors_on is true
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extern
void
sys_id_chirp_add_values
(
bool
motors_on,
bool
override_on,
pprz_t
in_cmd[]);
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#endif // SYS_ID_CHIRP_H
chirp_noise_stdv_onaxis_ratio
float chirp_noise_stdv_onaxis_ratio
Definition:
sys_id_chirp.c:63
chirp_amplitude
pprz_t chirp_amplitude
Definition:
sys_id_chirp.c:62
chirp_fstart_hz
float chirp_fstart_hz
Definition:
sys_id_chirp.c:65
sys_id_chirp_run
void sys_id_chirp_run(void)
Definition:
sys_id_chirp.c:178
chirp_axis
uint8_t chirp_axis
Definition:
sys_id_chirp.c:61
sys_id_chirp_activate_handler
void sys_id_chirp_activate_handler(uint8_t activate)
Definition:
sys_id_chirp.c:122
chirp_length_s
float chirp_length_s
Definition:
sys_id_chirp.c:67
sys_id_chirp_fstop_handler
void sys_id_chirp_fstop_handler(float fstop)
Definition:
sys_id_chirp.c:148
paparazzi.h
sys_id_chirp_axis_handler
void sys_id_chirp_axis_handler(uint8_t axis)
Definition:
sys_id_chirp.c:134
pprz_t
int16_t pprz_t
Definition:
paparazzi.h:6
chirp_fstop_hz
float chirp_fstop_hz
Definition:
sys_id_chirp.c:66
uint8_t
unsigned char uint8_t
Definition:
types.h:14
sys_id_chirp_add_values
void sys_id_chirp_add_values(bool motors_on, bool override_on, pprz_t in_cmd[])
Definition:
sys_id_chirp.c:194
chirp_active
uint8_t chirp_active
Definition:
sys_id_chirp.c:60
sys_id_chirp_fstart_handler
void sys_id_chirp_fstart_handler(float fstart)
Definition:
sys_id_chirp.c:141
sys_id_chirp_init
void sys_id_chirp_init(void)
Definition:
sys_id_chirp.c:157
chirp_noise_stdv_offaxis
float chirp_noise_stdv_offaxis
Definition:
sys_id_chirp.c:64
sw
airborne
modules
system_identification
sys_id_chirp.h
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