2b05c843a1
Also added some statistical values that can be veiwed in CLI to see how they sytem performs.
64 lines
2.6 KiB
C
64 lines
2.6 KiB
C
/**********************************************************************
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* NAME: motormix.h *
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* AUTHOR: Philip Johansson *
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* PURPOSE: Combine the control system outputs to motor values *
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* INFORMATION: *
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* Each control loop has its output which is a combination of error *
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* in the input unit times some tuned constants. These outputs are *
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* read by the mixer, combined and scaled into a valid output for *
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* each motor. *
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* *
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* *
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* GLOBAL VARIABLES: *
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* Variable Type Description *
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* -------- ---- ----------- *
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* *
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**********************************************************************/
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#ifndef DRIVERS_MOTORMIX_H_
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#define DRIVERS_MOTORMIX_H_
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#include "stm32f4xx_revo.h"
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/* Amount of motors */
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#define MOTOR_COUNT 10
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// TODO: These are only temporary before merge with PID part
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uint16_t PID_Out[3];
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// TODO: Temporary before PID
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typedef enum {
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ROLL = 0,
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PITCH,
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YAW
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} RollPitchYaw;
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// TODO: Implement in EEPROM
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/* Important values to be used by the mixer */
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typedef struct {
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uint16_t minThrottle; // Pulse when motors are stopped
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uint16_t maxThrottle; // Pulse when motors are maxed out
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uint16_t minCommand; // Pulse when motors are running idle (Armed)
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uint16_t maxCommand; // Max throttle allowed. Mixer can go higher than this though.
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uint16_t minCheck; // In Non Airmode: If throttle is below minCheck we set motors to minCommand
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uint16_t padding;
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bool pid_at_min_throttle; // When enabled PIDs are used at minimum throttle
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bool motorstop; // If enabled motors will stop spinning at no throttle when Armed
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bool yaw_reverse_direction; // Default should be 1. Can be either -1 or 1
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} mixerConfig_s;
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/* Global mixerConfig to bee available to EEPROM */
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extern mixerConfig_s mixerConfig;
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/***********************************************************************
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* BRIEF: The motormixer *
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* INFORMATION: Sums the output from all control loops and adapts the *
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* result to a suitable motor signal *
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***********************************************************************/
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void mix();
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#endif /* DRIVERS_MOTORMIX_H_ */
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