| 0,0 → 1,45 |
|---|
| #ifndef _DEFINITIONS_H |
| #define _DEFINITIONS_H |
| |
| /* |
| * Signal qualities, used to determine the availability of a control. |
| * NO_SIGNAL means there was never a signal. SIGNAL_LOST that there was a signal, but it was lost. |
| * SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage |
| * or disengage emergency landing. |
| * SIGNAL_OK means the signal is usable for flight. |
| * SIGNAL_GOOD means the signal can also be used for setting parameters. |
| */ |
| #define NO_SIGNAL 0 |
| #define SIGNAL_LOST 1 |
| #define SIGNAL_BAD 2 |
| #define SIGNAL_OK 3 |
| #define SIGNAL_GOOD 4 |
| |
| /* |
| * The RPTY arrays |
| */ |
| #define CONTROL_ROLL 0 |
| #define CONTROL_PITCH 1 |
| #define CONTROL_THROTTLE 2 |
| #define CONTROL_YAW 3 |
| |
| |
| /* |
| * The controls operate in [-1024, 1024] just about. |
| * We compute control input and output in terms of 11 bit ranges then. |
| */ |
| |
| #define LOG_CONTROL_RANGE 11 |
| #define CONTROL_RANGE (1<<LOG_CONTROL_RANGE) |
| |
| // For scaling control input quantities to bytes (configuration parameters). |
| #define LOG_CONTROL_BYTE_SCALING (LOG_CONTROL_RANGE - 8) |
| |
| // MK BLC 1.x use 8 bit values. MK BLC 2.x use 10 bits. 10 bits is not implemented and probably doesnt |
| // make a practical difference anyway. |
| #define LOG_I2C_CONTROL_RANGE 8 |
| |
| // Scale throttle levels to MK BLCs 8 bit range: |
| #define LOG_I2C_CONTROL_SCALING (LOG_CONTROL_RANGE - LOG_I2C_CONTROL_RANGE) |
| |
| #endif |