Subversion Repositories FlightCtrl

/*********************************************************************************/

/* Stick control interface                                                       */

/*********************************************************************************/

/*

OBSOLETED BY controlMixer.h. But this is how it looked - maybe somebody will find it simpler?

#ifndef _CONTROL_H

#define _CONTROL_H

#include <inttypes.h>

#define CONTROL_SCALING 4

// defines for lookup staticParams.ChannelAssignment

#define CH_PITCH        0

#define CH_ROLL             1

#define CH_THROTTLE         2

#define CH_YAW          3

#define CH_POTS         4

#define POT_OFFSET      110

extern int16_t stickPitch, stickRoll, stickYaw, stickThrottle;

extern int16_t stickOffsetNick, stickOffsetRoll;

extern uint16_t maxStickPitch, maxStickRoll;

extern uint8_t loopingPitch, loopingRoll;

// external control

extern int16_t externalStickPitch, externalStickRoll, externalStickYaw;

// current GPS-stick values

extern int16_t GPSStickPitch, GPSStickRoll;

typedef struct {

  uint8_t       digital[2];

  uint8_t       eemoteButtons;

  int8_t        pitch;

  int8_t        roll;

  int8_t        yaw;

  uint8_t       throttle;

  int8_t        height;

  uint8_t       free;

  uint8_t       frame;

  uint8_t       config;

} __attribute__((packed)) ExternalControl_t;

extern ExternalControl_t externalControl;

//uint8_t control_getLeftStickCalibrateIndex(void);

//uint8_t control_getLeftStickMotorStartIndex(void);

//uint8_t control_getRightRCStickIndex(void);

void control_initPots(void);

void control_updatePots(void);

void setCompassCalState(void);

void updateCompass(void);

void control_setNeutral(void);

void control_update(void);

#define STICK_COMMAND_UNDEF 0

#define STICK_COMMAND_START 6

#define STICK_COMMAND_STOP  8

#define STICK_COMMAND_GYROCAL 2

#define STICK_COMMAND_ACCCAL 4

void control_senseStickCommands(void);

uint8_t control_getStickCommand(void);

uint8_t control_isStickCommandRepeated(void);

void control_performPilotCalibrationCommands(uint8_t stickCommand);

extern volatile int16_t RC_Quality;     // rc signal quality indicator (0 to 200)

extern uint8_t control_hasNewRCData(void);

#endif //_CONTROL_H

*/