C++ (Cpp) DeadBand 예제들

예제 #1

파일: stabilization_attitude_rc_setpoint.c 프로젝트: AULA-PPZ/paparazzi

static int32_t get_rc_yaw(void)
{
  const int32_t max_rc_r = (int32_t) ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_R);
  int32_t yaw = radio_control.values[RADIO_YAW];
  DeadBand(yaw, STABILIZATION_ATTITUDE_DEADBAND_R);
  return yaw * max_rc_r / (MAX_PPRZ - STABILIZATION_ATTITUDE_DEADBAND_R);
}

예제 #2

파일: guidance_v.c 프로젝트: thpaparazzi/paparazzi

void guidance_v_read_rc(void) {

  /* used in RC_DIRECT directly and as saturation in CLIMB and HOVER */
  guidance_v_rc_delta_t = (int32_t)radio_control.values[RADIO_THROTTLE];

  /* used in RC_CLIMB */
  guidance_v_rc_zd_sp = ((MAX_PPRZ/2) - (int32_t)radio_control.values[RADIO_THROTTLE]) * GUIDANCE_V_RC_CLIMB_COEF;
  DeadBand(guidance_v_rc_zd_sp, GUIDANCE_V_RC_CLIMB_DEAD_BAND);

}

예제 #3

파일: stabilization_attitude_rc_setpoint.c 프로젝트: AULA-PPZ/paparazzi

static float get_rc_pitch_f(void)
{
  int32_t pitch = radio_control.values[RADIO_PITCH];
#if STABILIZATION_ATTITUDE_DEADBAND_E
  DeadBand(pitch, STABILIZATION_ATTITUDE_DEADBAND_E);
  return pitch * STABILIZATION_ATTITUDE_SP_MAX_THETA / (MAX_PPRZ - STABILIZATION_ATTITUDE_DEADBAND_E);
#else
  return pitch * STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ;
#endif
}

예제 #4

파일: stabilization_attitude_rc_setpoint.c 프로젝트: AULA-PPZ/paparazzi

static float get_rc_roll_f(void)
{
  int32_t roll = radio_control.values[RADIO_ROLL];
#if STABILIZATION_ATTITUDE_DEADBAND_A
  DeadBand(roll, STABILIZATION_ATTITUDE_DEADBAND_A);
  return roll * STABILIZATION_ATTITUDE_SP_MAX_PHI / (MAX_PPRZ - STABILIZATION_ATTITUDE_DEADBAND_A);
#else
  return roll * STABILIZATION_ATTITUDE_SP_MAX_PHI / MAX_PPRZ;
#endif
}

예제 #5

파일: stabilization_attitude_rc_setpoint.c 프로젝트: AULA-PPZ/paparazzi

static int32_t get_rc_pitch(void)
{
  const int32_t max_rc_theta = (int32_t) ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_THETA);
  int32_t pitch = radio_control.values[RADIO_PITCH];
#if STABILIZATION_ATTITUDE_DEADBAND_E
  DeadBand(pitch, STABILIZATION_ATTITUDE_DEADBAND_E);
  return pitch * max_rc_theta / (MAX_PPRZ - STABILIZATION_ATTITUDE_DEADBAND_E);
#else
  return pitch * max_rc_theta / MAX_PPRZ;
#endif
}

예제 #6

파일: stabilization_attitude_rc_setpoint.c 프로젝트: AULA-PPZ/paparazzi

static int32_t get_rc_roll(void)
{
  const int32_t max_rc_phi = (int32_t) ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_PHI);
  int32_t roll = radio_control.values[RADIO_ROLL];
#if STABILIZATION_ATTITUDE_DEADBAND_A
  DeadBand(roll, STABILIZATION_ATTITUDE_DEADBAND_A);
  return roll * max_rc_phi / (MAX_PPRZ - STABILIZATION_ATTITUDE_DEADBAND_A);
#else
  return roll * max_rc_phi / MAX_PPRZ;
#endif
}

예제 #7

파일: guidance_v.c 프로젝트: BrandoJS/Paparazzi_vtol

void guidance_v_read_rc(void) {

  // used in RC_DIRECT directly and as saturation in CLIMB and HOVER
#ifndef USE_HELI
  guidance_v_rc_delta_t = (int32_t)radio_control.values[RADIO_THROTTLE] * 200 / MAX_PPRZ;
#else
  guidance_v_rc_delta_t = (int32_t)radio_control.values[RADIO_THROTTLE] * 4 / 5;
#endif
  // used in RC_CLIMB
  guidance_v_rc_zd_sp   = ((MAX_PPRZ/2) - (int32_t)radio_control.values[RADIO_THROTTLE]) *
                                GUIDANCE_V_RC_CLIMB_COEF;
  DeadBand(guidance_v_rc_zd_sp, GUIDANCE_V_RC_CLIMB_DEAD_BAND);

}

예제 #8

파일: guidance_v.c 프로젝트: Aishwaryabr/paparazzi

void guidance_v_read_rc(void) {

  /* used in RC_DIRECT directly and as saturation in CLIMB and HOVER */
  guidance_v_rc_delta_t = (int32_t)radio_control.values[RADIO_THROTTLE];

  /* used in RC_CLIMB */
  guidance_v_rc_zd_sp = (MAX_PPRZ/2) - (int32_t)radio_control.values[RADIO_THROTTLE];
  DeadBand(guidance_v_rc_zd_sp, GUIDANCE_V_CLIMB_RC_DEADBAND);

  static const int32_t climb_scale = ABS(SPEED_BFP_OF_REAL(GUIDANCE_V_MAX_RC_CLIMB_SPEED) /
                                         (MAX_PPRZ/2 - GUIDANCE_V_CLIMB_RC_DEADBAND));
  static const int32_t descent_scale = ABS(SPEED_BFP_OF_REAL(GUIDANCE_V_MAX_RC_DESCENT_SPEED) /
                                           (MAX_PPRZ/2 - GUIDANCE_V_CLIMB_RC_DEADBAND));

  if(guidance_v_rc_zd_sp > 0)
    guidance_v_rc_zd_sp *= descent_scale;
  else
    guidance_v_rc_zd_sp *= climb_scale;
}

예제 #9

파일: stabilization_attitude_rc_setpoint.c 프로젝트: AULA-PPZ/paparazzi

static inline float get_rc_yaw_f(void)
{
  int32_t yaw = radio_control.values[RADIO_YAW];
  DeadBand(yaw, STABILIZATION_ATTITUDE_DEADBAND_R);
  return yaw * STABILIZATION_ATTITUDE_SP_MAX_R / (MAX_PPRZ - STABILIZATION_ATTITUDE_DEADBAND_R);
}