throttle_curve.c File Reference

#include "throttle_curve.h"
#include "subsystems/commands.h"
#include "autopilot.h"
#include "subsystems/radio_control.h"
#include "subsystems/abi.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	THROTTLE_CURVE_SWITCH_VAL   (MAX_PPRZ*2/THROTTLE_CURVES_NB)
#define	THROTTLE_CURVE_RPM_FB_P   0.0
#define	THROTTLE_CURVE_RPM_FB_I   0.0
#define	THROTTLE_CURVE_RPM_INC_LIMIT   512
#define	THROTTLE_CURVE_RPM_ID   ABI_BROADCAST
#define	THROTTLE_CURVE_RPM_ACT   0

Functions
static void	rpm_cb (uint8_t sender_id, uint16_t *rpm, uint8_t num_act)
	RPM callback for RPM based control throttle curves. More...
static void	throttle_curve_send_telem (struct transport_tx *trans, struct link_device *dev)
void	throttle_curve_init (void)
	Initialize the default throttle curve values. More...
void	throttle_curve_run (pprz_t cmds[], uint8_t ap_mode)
	Run the throttle curve and generate the output throttle and pitch This depends on the FMODE(flight mode) and TRHUST command. More...
void	nav_throttle_curve_set (uint8_t mode)
	Set a specific throttle curve based on the mode given with this function. More...

Variables
static abi_event	rpm_ev
struct throttle_curve_t	throttle_curve

Detailed Description

Author

C. De Wagter and Freek van Tienen Throttle Curve Mixers

Definition in file throttle_curve.c.

Macro Definition Documentation

THROTTLE_CURVE_RPM_ACT

#define THROTTLE_CURVE_RPM_ACT   0

Definition at line 54 of file throttle_curve.c.

THROTTLE_CURVE_RPM_FB_I

#define THROTTLE_CURVE_RPM_FB_I   0.0

Definition at line 42 of file throttle_curve.c.

THROTTLE_CURVE_RPM_FB_P

#define THROTTLE_CURVE_RPM_FB_P   0.0

Definition at line 38 of file throttle_curve.c.

THROTTLE_CURVE_RPM_ID

#define THROTTLE_CURVE_RPM_ID   ABI_BROADCAST

Definition at line 51 of file throttle_curve.c.

THROTTLE_CURVE_RPM_INC_LIMIT

#define THROTTLE_CURVE_RPM_INC_LIMIT   512

Definition at line 46 of file throttle_curve.c.

THROTTLE_CURVE_SWITCH_VAL

#define THROTTLE_CURVE_SWITCH_VAL   (MAX_PPRZ*2/THROTTLE_CURVES_NB)

Definition at line 34 of file throttle_curve.c.

Function Documentation

nav_throttle_curve_set()

void nav_throttle_curve_set

(

uint8_t

mode

)

Set a specific throttle curve based on the mode given with this function.

Definition at line 208 of file throttle_curve.c.

References mode, throttle_curve_t::nav_mode, and throttle_curve.

rpm_cb()

static void rpm_cb ( uint8_t  sender_id, uint16_t *  rpm, uint8_t  num_act  )

static

RPM callback for RPM based control throttle curves.

Definition at line 102 of file throttle_curve.c.

References rpm, throttle_curve_t::rpm_meas, throttle_curve_t::rpm_measured, throttle_curve, and THROTTLE_CURVE_RPM_ACT.

Referenced by throttle_curve_init().

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throttle_curve_init()

void throttle_curve_init

(

void

)

Initialize the default throttle curve values.

Definition at line 79 of file throttle_curve.c.

References throttle_curve_t::coll_trim, curve_t::collective, throttle_curve_t::collective, throttle_curve_t::curves, DefaultPeriodic, throttle_curve_t::mode, throttle_curve_t::nav_mode, register_periodic_telemetry(), rpm_cb(), throttle_curve_t::rpm_err_sum, rpm_ev, throttle_curve_t::rpm_fb_i, throttle_curve_t::rpm_fb_p, throttle_curve_t::rpm_measured, curve_t::throttle, throttle_curve_t::throttle, throttle_curve, THROTTLE_CURVE_RPM_FB_I, THROTTLE_CURVE_RPM_FB_P, THROTTLE_CURVE_RPM_ID, throttle_curve_send_telem(), and throttle_curve_t::throttle_trim.

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throttle_curve_run()

void throttle_curve_run	(	pprz_t	cmds[],
		uint8_t	ap_mode
	)

Run the throttle curve and generate the output throttle and pitch This depends on the FMODE(flight mode) and TRHUST command.

Definition at line 115 of file throttle_curve.c.

References AP_MODE_FAILSAFE, AP_MODE_NAV, autopilot_get_motors_on(), cmds, throttle_curve_t::coll_trim, curve_t::collective, throttle_curve_t::collective, throttle_curve_t::curves, MAX_PPRZ, throttle_curve_t::mode, mode, throttle_curve_t::nav_mode, curve_t::nb_points, radio_control, curve_t::rpm, throttle_curve_t::rpm, throttle_curve_t::rpm_err_sum, throttle_curve_t::rpm_fb_i, throttle_curve_t::rpm_fb_p, throttle_curve_t::rpm_meas, throttle_curve_t::rpm_measured, curve_t::throttle, throttle_curve_t::throttle, throttle_curve, THROTTLE_CURVE_RPM_INC_LIMIT, THROTTLE_CURVE_SWITCH_VAL, throttle_curve_t::throttle_trim, and RadioControl::values.

Referenced by main_periodic().

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throttle_curve_send_telem()

static void throttle_curve_send_telem ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 68 of file throttle_curve.c.

References throttle_curve_t::collective, dev, throttle_curve_t::mode, throttle_curve_t::rpm, throttle_curve_t::rpm_err_sum, throttle_curve_t::rpm_meas, throttle_curve_t::throttle, and throttle_curve.

Referenced by throttle_curve_init().

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Variable Documentation

rpm_ev

abi_event rpm_ev

static

Definition at line 56 of file throttle_curve.c.

Referenced by throttle_curve_init().

throttle_curve

struct throttle_curve_t throttle_curve

Initial value:

= {
  .nb_curves = THROTTLE_CURVES_NB,
  .curves = THROTTLE_CURVES
}

Definition at line 60 of file throttle_curve.c.

Referenced by nav_throttle_curve_set(), rpm_cb(), throttle_curve_init(), throttle_curve_run(), and throttle_curve_send_telem().