Subversion Repositories FlightCtrl

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

/* Flight Control                                                                */

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

#ifndef _FLIGHT_H

#define _FLIGHT_H

#include <inttypes.h>

#include "analog.h"

#include "configuration.h"

#define PITCH 0

#define ROLL 1

/*

 * The output BLC throttles can be set in an [0..256[ interval. Some staticParams limits

 * (min, throttle, max throttle etc) are in a [0..256[ interval.

 * The calculation of motor throttle values from sensor and control information (basically

 * flight.c) take place in an [0..1024[ interval for better precision.

 * This is the conversion factor.

 * --> Replaced back again by CONTROL_SCALING. Even though the 2 things are not quite the

 * same, they are unseperable anyway.

 */

extern uint8_t RequiredMotors;

// looping params

// extern long TurnOver180Nick, TurnOver180Roll;

// external control

// extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw;

// extern int16_t naviAccPitch, naviAccRoll, naviCntAcc;

// TODO: Rip em up, replace by a flight-state machine.

// OK first step: Move to control mixer, where the state machine will be located anyway.

// extern volatile uint8_t MKFlags;

// extern uint16_t isFlying;

void flight_control(void);

void transmitMotorThrottleData(void);

void flight_setNeutral(void);

#endif //_FLIGHT_H