| 0,0 → 1,99 |
|---|
| #ifndef COPTER_H |
| #define COPTER_H |
| #include <string> |
| |
| using namespace std; |
| |
| /** |
| * This file contains informations and configurations from the Mikrokopter |
| */ |
| |
| // version information for the serial connection |
| static const int VERSION_SERIAL_MAJOR = 10; |
| static const int VERSION_SERIAL_MINOR = 0; |
| |
| // Basis-Adresses for different Hardware components |
| static const int ADDRESS_ALL = 0; |
| static const int ADDRESS_FC = 1; |
| static const int ADDRESS_NC = 2; |
| static const int ADDRESS_MK3MAG = 3; |
| |
| // settings ID |
| static const int SETTINGS_ID = 2; |
| |
| static const string HardwareType[] = {"Default", "FlightCtrl", "NaviCtrl", "MK3Mag"}; |
| |
| static const int MaxTickerEvents = 5; |
| |
| static const int MaxAnalog = 32; |
| static const int MaxPlot = 50000; |
| |
| static const int MaxNaviPos = 2000; |
| |
| struct sMotor |
| { |
| int Speed[12]; |
| }; |
| |
| struct MotorData |
| { |
| int motor[16][4]; |
| string mixerName; |
| int mixerVersion; |
| }; |
| |
| struct sMode |
| { |
| int ID; |
| int VERSION_MAJOR; |
| int VERSION_MINOR; |
| int VERSION_PATCH; |
| int VERSION_SERIAL_MAJOR; |
| int VERSION_SERIAL_MINOR; |
| string Hardware; |
| string Version; |
| }; |
| |
| struct sGPS_Pos |
| { |
| long Longitude; |
| long Latitude; |
| long Altitude; |
| }; |
| |
| struct sNaviData |
| { |
| sGPS_Pos Current; |
| sGPS_Pos Target; |
| sGPS_Pos Home; |
| |
| long Longitude; |
| long Latitude; |
| long Altitude; |
| }; |
| |
| struct sWayPoint |
| { |
| double Longitude; |
| double Latitude; |
| double Altitude; |
| int Time; |
| }; |
| |
| /** |
| * The KopterData class represents the current state of the MikroKopter. |
| * It containes all data that was sent from the Mikrokopter |
| */ |
| class KopterData { |
| public: |
| sMode mode; |
| sNaviData navi; |
| sMotor motor; |
| int analogData[MaxAnalog]; |
| // current LCD page |
| int lcd_cur; |
| //max count of LCD pages |
| int lcd_max; |
| }; |
| |
| #endif |