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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1645 | - | 1 | /*********************************************************************************/ |
| 2 | /* Stick control interface */ |
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| 3 | /*********************************************************************************/ |
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| 1612 | dongfang | 4 | /* |
| 1616 | dongfang | 5 | OBSOLETED BY controlMixer.h. But this is how it looked - maybe somebody will find it simpler? |
| 1612 | dongfang | 6 | |
| 7 | #ifndef _CONTROL_H |
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| 8 | #define _CONTROL_H |
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| 9 | |||
| 10 | #include <inttypes.h> |
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| 1645 | - | 11 | #define CONTROL_SCALING 4 |
| 1612 | dongfang | 12 | |
| 13 | // defines for lookup staticParams.ChannelAssignment |
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| 14 | #define CH_PITCH 0 |
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| 1645 | - | 15 | #define CH_ROLL 1 |
| 16 | #define CH_THROTTLE 2 |
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| 17 | #define CH_YAW 3 |
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| 1612 | dongfang | 18 | #define CH_POTS 4 |
| 19 | #define POT_OFFSET 110 |
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| 20 | |||
| 21 | extern int16_t stickPitch, stickRoll, stickYaw, stickThrottle; |
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| 22 | extern int16_t stickOffsetNick, stickOffsetRoll; |
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| 23 | extern uint16_t maxStickPitch, maxStickRoll; |
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| 24 | extern uint8_t loopingPitch, loopingRoll; |
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| 25 | |||
| 26 | // external control |
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| 27 | extern int16_t externalStickPitch, externalStickRoll, externalStickYaw; |
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| 28 | |||
| 29 | // current GPS-stick values |
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| 30 | extern int16_t GPSStickPitch, GPSStickRoll; |
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| 31 | |||
| 32 | typedef struct { |
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| 33 | uint8_t digital[2]; |
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| 34 | uint8_t eemoteButtons; |
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| 35 | int8_t pitch; |
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| 36 | int8_t roll; |
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| 37 | int8_t yaw; |
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| 38 | uint8_t throttle; |
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| 39 | int8_t height; |
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| 40 | uint8_t free; |
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| 41 | uint8_t frame; |
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| 42 | uint8_t config; |
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| 43 | } __attribute__((packed)) ExternalControl_t; |
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| 44 | |||
| 45 | extern ExternalControl_t externalControl; |
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| 46 | |||
| 47 | //uint8_t control_getLeftStickCalibrateIndex(void); |
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| 48 | //uint8_t control_getLeftStickMotorStartIndex(void); |
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| 49 | //uint8_t control_getRightRCStickIndex(void); |
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| 50 | void control_initPots(void); |
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| 51 | void control_updatePots(void); |
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| 52 | |||
| 53 | void setCompassCalState(void); |
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| 54 | void updateCompass(void); |
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| 55 | |||
| 56 | void control_setNeutral(void); |
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| 57 | void control_update(void); |
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| 58 | |||
| 59 | #define STICK_COMMAND_UNDEF 0 |
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| 60 | #define STICK_COMMAND_START 6 |
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| 61 | #define STICK_COMMAND_STOP 8 |
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| 62 | #define STICK_COMMAND_GYROCAL 2 |
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| 63 | #define STICK_COMMAND_ACCCAL 4 |
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| 64 | |||
| 65 | void control_senseStickCommands(void); |
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| 66 | uint8_t control_getStickCommand(void); |
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| 67 | uint8_t control_isStickCommandRepeated(void); |
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| 68 | |||
| 69 | void control_performPilotCalibrationCommands(uint8_t stickCommand); |
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| 70 | |||
| 71 | extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
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| 72 | extern uint8_t control_hasNewRCData(void); |
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| 73 | |||
| 74 | #endif //_CONTROL_H |
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| 75 | */ |