Rev 2099 | Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1910 | - | 1 | /*********************************************************************************/ |
| 2 | /* Flight Control */ |
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| 3 | /*********************************************************************************/ |
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| 4 | |||
| 5 | #ifndef _FLIGHT_H |
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| 6 | #define _FLIGHT_H |
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| 7 | |||
| 8 | #include <inttypes.h> |
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| 9 | #include "analog.h" |
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| 10 | #include "configuration.h" |
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| 11 | |||
| 12 | #define PITCH 0 |
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| 13 | #define ROLL 1 |
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| 14 | |||
| 15 | /* |
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| 16 | * The output BLC throttles can be set in an [0..256[ interval. Some staticParams limits |
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| 17 | * (min, throttle, max throttle etc) are in a [0..256[ interval. |
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| 18 | * The calculation of motor throttle values from sensor and control information (basically |
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| 19 | * flight.c) take place in an [0..1024[ interval for better precision. |
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| 20 | * This is the conversion factor. |
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| 21 | * --> Replaced back again by CONTROL_SCALING. Even though the 2 things are not quite the |
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| 22 | * same, they are unseperable anyway. |
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| 23 | */ |
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| 24 | |||
| 25 | // looping params |
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| 26 | // extern long TurnOver180Nick, TurnOver180Roll; |
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| 27 | |||
| 28 | // external control |
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| 29 | // extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
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| 30 | // extern int16_t naviAccPitch, naviAccRoll, naviCntAcc; |
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| 31 | |||
| 32 | // TODO: Rip em up, replace by a flight-state machine. |
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| 33 | // OK first step: Move to control mixer, where the state machine will be located anyway. |
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| 34 | // extern volatile uint8_t MKFlags; |
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| 35 | // extern uint16_t isFlying; |
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| 36 | |||
| 37 | #define HH_RANGE ((int32_t)GYRO_DEG_FACTOR_PITCHROLL * 30) |
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| 38 | |||
| 39 | void flight_control(void); |
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| 40 | void transmitMotorThrottleData(void); |
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| 41 | void flight_setNeutral(void); |
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| 42 | |||
| 43 | #endif //_FLIGHT_H |