compute_axis_commands.h File Reference

This file creates the inputs to the PID controller and sends values to the mixer. More...

Go to the source code of this file.

Macros
#define	RATECURVE(x)   (((eepromConfig.rateCoeffAlpha * CUBE(x)) + (eepromConfig.rateCoeffBravo * x)) * PI / 180.0);

Functions
void	computeAxisCommands (float dt)
	Computes the commands that get sent to the mixer. More...

Variables
float	attCmd [3]
float	attPID [3]
float	ratePID [3]
float	rateCmd [3]

Detailed Description

This file creates the inputs to the PID controller and sends values to the mixer.

Author

Jeremy Wolfe

Date

07 MAR 2022

Macro Definition Documentation

RATECURVE

#define RATECURVE

(

x

)

(((eepromConfig.rateCoeffAlpha * CUBE(x)) + (eepromConfig.rateCoeffBravo * x)) * PI / 180.0);

Function Documentation

computeAxisCommands()

void computeAxisCommands

(

float

dt

)

Computes the commands that get sent to the mixer.

Parameters

dt	The PID loop period in sec.

Returns

Void.

Variable Documentation

attCmd

float attCmd[3]

extern

attPID

float attPID[3]

extern

rateCmd

float rateCmd[3]

extern

ratePID

float ratePID[3]

extern