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Re: [Paparazzi-devel] Building a Code for the first time

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Building a Code for the first time
Date: Wed, 30 Mar 2016 23:41:21 +0200

Hi Kevin,

the roll/pitch/yaw/thrust_coef are currently declared static in motor_mixing.c
You would need to make those non static and declare them in the motor_mixing.h header file (best add them to the MotorMixing struct).
Then initialize them in motor_mixing_init() instead...
In your module then #include "subsystems/actuators/motor_mixing.h" and modify motor_mixing.pitch_coef (etc..) according to your needs.

Hope that helps,

On Sun, Mar 27, 2016 at 3:22 PM, notoriou5 <address@hidden> wrote:
Happy Easter to everyone :),

maybe some of you guys have some time in this holiday season to help me out
a bit. I tried to build a module to switch the matrix of the motor-mixing
depending which flight state I am in.
This is the code: (somehow the highlighting did not work....)

I know that I still have to do the following:
write matrix_module.h
write matrix_module.xml
activate matrix_module.xml in the airframe.xml file
include the matrix_module.xml in the GUI-Module section
#define matrix_module.h in the motor_mixing.c

My question is now, if through the periodic task matrix_periodic (void) in
matrix_module.c the current values of the Matrix are given to the
motor_mixing.c file? How can I ensure the current values are given to the
motor_mixing? Is it enough to write #define matrix_module.h in the
motor_mixing.c file or is it more complex?

Thanks for your help so far and a happy Easter,


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