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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | /*####################################################################################### |
| 2 | Stick control interface |
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| 3 | #######################################################################################*/ |
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| 4 | /* |
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| 5 | |||
| 6 | #ifndef _CONTROL_H |
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| 7 | #define _CONTROL_H |
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| 8 | |||
| 9 | #include <inttypes.h> |
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| 10 | #define STICK_GAIN 4 |
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| 11 | |||
| 12 | // defines for lookup staticParams.ChannelAssignment |
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| 13 | #define CH_PITCH 0 |
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| 14 | #define CH_ROLL 1 |
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| 15 | #define CH_THROTTLE 2 |
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| 16 | #define CH_YAW 3 |
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| 17 | #define CH_POTS 4 |
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| 18 | #define POT_OFFSET 110 |
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| 19 | |||
| 20 | extern int16_t stickPitch, stickRoll, stickYaw, stickThrottle; |
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| 21 | extern int16_t stickOffsetNick, stickOffsetRoll; |
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| 22 | extern uint16_t maxStickPitch, maxStickRoll; |
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| 23 | extern uint8_t loopingPitch, loopingRoll; |
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| 24 | |||
| 25 | // external control |
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| 26 | extern int16_t externalStickPitch, externalStickRoll, externalStickYaw; |
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| 27 | |||
| 28 | // current GPS-stick values |
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| 29 | extern int16_t GPSStickPitch, GPSStickRoll; |
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| 30 | |||
| 31 | typedef struct { |
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| 32 | uint8_t digital[2]; |
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| 33 | uint8_t eemoteButtons; |
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| 34 | int8_t pitch; |
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| 35 | int8_t roll; |
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| 36 | int8_t yaw; |
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| 37 | uint8_t throttle; |
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| 38 | int8_t height; |
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| 39 | uint8_t free; |
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| 40 | uint8_t frame; |
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| 41 | uint8_t config; |
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| 42 | } __attribute__((packed)) ExternalControl_t; |
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| 43 | |||
| 44 | extern ExternalControl_t externalControl; |
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| 45 | |||
| 46 | //uint8_t control_getLeftStickCalibrateIndex(void); |
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| 47 | //uint8_t control_getLeftStickMotorStartIndex(void); |
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| 48 | //uint8_t control_getRightRCStickIndex(void); |
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| 49 | void control_initPots(void); |
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| 50 | void control_updatePots(void); |
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| 51 | |||
| 52 | void setCompassCalState(void); |
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| 53 | void updateCompass(void); |
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| 54 | |||
| 55 | void control_setNeutral(void); |
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| 56 | void control_update(void); |
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| 57 | |||
| 58 | #define STICK_COMMAND_UNDEF 0 |
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| 59 | #define STICK_COMMAND_START 6 |
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| 60 | #define STICK_COMMAND_STOP 8 |
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| 61 | #define STICK_COMMAND_GYROCAL 2 |
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| 62 | #define STICK_COMMAND_ACCCAL 4 |
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| 63 | |||
| 64 | void control_senseStickCommands(void); |
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| 65 | uint8_t control_getStickCommand(void); |
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| 66 | uint8_t control_isStickCommandRepeated(void); |
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| 67 | |||
| 68 | void control_performPilotCalibrationCommands(uint8_t stickCommand); |
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| 69 | |||
| 70 | extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
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| 71 | extern uint8_t control_hasNewRCData(void); |
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| 72 | |||
| 73 | #endif //_CONTROL_H |
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| 74 | */ |