C++ (Cpp) YAW_RATE_DEADBAND_EXCEEDED Examples

Example #1

File: stabilization_rate.c Project: 0lri/paparazzi

void stabilization_rate_read_rc( void ) {

  if(ROLL_RATE_DEADBAND_EXCEEDED())
    stabilization_rate_sp.p = (int32_t)-radio_control.values[RADIO_ROLL] * STABILIZATION_RATE_SP_MAX_P / MAX_PPRZ;
  else
    stabilization_rate_sp.p = 0;

  if(PITCH_RATE_DEADBAND_EXCEEDED())
    stabilization_rate_sp.q = (int32_t)radio_control.values[RADIO_PITCH] * STABILIZATION_RATE_SP_MAX_Q / MAX_PPRZ;
  else
    stabilization_rate_sp.q = 0;

  if(YAW_RATE_DEADBAND_EXCEEDED())
    stabilization_rate_sp.r = (int32_t)-radio_control.values[RADIO_YAW] * STABILIZATION_RATE_SP_MAX_R / MAX_PPRZ;
  else
    stabilization_rate_sp.r = 0;
}

Example #2

File: stabilization_rate.c Project: Aishwaryabr/paparazzi

//Read rc with roll and yaw sitcks switched if the default orientation is vertical but airplane sticks are desired
void stabilization_rate_read_rc_switched_sticks( void ) {

  if(ROLL_RATE_DEADBAND_EXCEEDED())
    stabilization_rate_sp.r = (int32_t) -radio_control.values[RADIO_ROLL] * STABILIZATION_RATE_SP_MAX_P / MAX_PPRZ;
  else
    stabilization_rate_sp.r = 0;

  if(PITCH_RATE_DEADBAND_EXCEEDED())
    stabilization_rate_sp.q = (int32_t)radio_control.values[RADIO_PITCH] * STABILIZATION_RATE_SP_MAX_Q / MAX_PPRZ;
  else
    stabilization_rate_sp.q = 0;

  if(YAW_RATE_DEADBAND_EXCEEDED())
    stabilization_rate_sp.p = (int32_t)radio_control.values[RADIO_YAW] * STABILIZATION_RATE_SP_MAX_R / MAX_PPRZ;
  else
    stabilization_rate_sp.p = 0;

  // Setpoint at ref resolution
    INT_RATES_LSHIFT(stabilization_rate_sp, stabilization_rate_sp, REF_FRAC - INT32_RATE_FRAC);
}

Example #3

File: stabilization_rate.c Project: gstark307/paparazzi

//Read rc with roll and yaw sitcks switched if the default orientation is vertical but airplane sticks are desired
void stabilization_rate_read_rc_switched_sticks(void)
{

  if (ROLL_RATE_DEADBAND_EXCEEDED()) {
    stabilization_rate_sp.r = (int32_t) - radio_control.values[RADIO_ROLL] * STABILIZATION_RATE_SP_MAX_P / MAX_PPRZ;
  } else {
    stabilization_rate_sp.r = 0;
  }

  if (PITCH_RATE_DEADBAND_EXCEEDED()) {
    stabilization_rate_sp.q = (int32_t)radio_control.values[RADIO_PITCH] * STABILIZATION_RATE_SP_MAX_Q / MAX_PPRZ;
  } else {
    stabilization_rate_sp.q = 0;
  }

  if (YAW_RATE_DEADBAND_EXCEEDED() && !THROTTLE_STICK_DOWN()) {
    stabilization_rate_sp.p = (int32_t)radio_control.values[RADIO_YAW] * STABILIZATION_RATE_SP_MAX_R / MAX_PPRZ;
  } else {
    stabilization_rate_sp.p = 0;
  }
}

Example #4

File: stabilization_rate.c Project: CodeMining/paparazzi

void stabilization_rate_read_rc(void)
{

  if (ROLL_RATE_DEADBAND_EXCEEDED()) {
    stabilization_rate_sp.p = (int32_t)radio_control.values[RADIO_ROLL] * RATE_BFP_OF_REAL(STABILIZATION_RATE_SP_MAX_P) / MAX_PPRZ;
  } else {
    stabilization_rate_sp.p = 0;
  }

  if (PITCH_RATE_DEADBAND_EXCEEDED()) {
    stabilization_rate_sp.q = (int32_t)radio_control.values[RADIO_PITCH] * RATE_BFP_OF_REAL(STABILIZATION_RATE_SP_MAX_Q) / MAX_PPRZ;
  } else {
    stabilization_rate_sp.q = 0;
  }

  if (YAW_RATE_DEADBAND_EXCEEDED() && !THROTTLE_STICK_DOWN()) {
    stabilization_rate_sp.r = (int32_t)radio_control.values[RADIO_YAW] * RATE_BFP_OF_REAL(STABILIZATION_RATE_SP_MAX_R) / MAX_PPRZ;
  } else {
    stabilization_rate_sp.r = 0;
  }
}