Autodrone
Multi-Domain Vehicle
mixer.h
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1
9#ifndef __MIXER_H__
10#define __MIXER_H__
11
12/* Defines */
13#define PIDMIXFLIGHT(X,Y,Z,T) (ratePID[ROLL] * (X) + ratePID[PITCH] * (Y) + eepromConfig.yawDirection * ratePID[YAW] * (Z) + throttleCmd * (T))
14#define PIDMIXROVER(X,T) (steerCmd * (X) + speedCmd * (T))
15
16#define THROTTLE_DEADBAND 400
17#define THROTTLE_DEADBAND_SLOPE ((4000 - THROTTLE_DEADBAND)/4000.0f)
18
19/* Global Variables */
20extern uint8_t numberMotor;
21extern uint16_t throttleCmd;
22extern int16_t steerCmd, speedCmd;
23extern int16_t motor_temp[4];
24
25/* Function Prototypes */
26void pulseMotors(void);
27void mixTable(void);
28
29#endif /* __MIXER_H__ */
int16_t steerCmd
Definition: mixer.c:15
void mixTable(void)
Mixes the values from the PID controller and assigns values to the motors.
Definition: mixer.c:37
uint16_t throttleCmd
Definition: mixer.c:14
uint8_t numberMotor
Definition: mixer.c:13
int16_t motor_temp[4]
Definition: mixer.c:16
int16_t speedCmd
Definition: mixer.h:22
void pulseMotors(void)
Pulses the motors.
Definition: mixer.c:23