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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2189 | - | 1 | #ifndef _DEFINITIONS_H |
| 2 | #define _DEFINITIONS_H |
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| 3 | |||
| 4 | /* |
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| 5 | * Signal qualities, used to determine the availability of a control. |
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| 6 | * NO_SIGNAL means there was never a signal. SIGNAL_LOST that there was a signal, but it was lost. |
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| 7 | * SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage |
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| 8 | * or disengage emergency landing. |
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| 9 | * SIGNAL_OK means the signal is usable for flight. |
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| 10 | * SIGNAL_GOOD means the signal can also be used for setting parameters. |
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| 11 | */ |
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| 12 | #define NO_SIGNAL 0 |
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| 13 | #define SIGNAL_LOST 1 |
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| 14 | #define SIGNAL_BAD 2 |
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| 15 | #define SIGNAL_OK 3 |
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| 16 | #define SIGNAL_GOOD 4 |
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| 17 | |||
| 18 | /* |
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| 19 | * The RPTY arrays |
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| 20 | */ |
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| 21 | #define CONTROL_ROLL 0 |
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| 22 | #define CONTROL_PITCH 1 |
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| 23 | #define CONTROL_THROTTLE 2 |
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| 24 | #define CONTROL_YAW 3 |
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| 25 | |||
| 26 | |||
| 27 | /* |
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| 28 | * The controls operate in [-1024, 1024] just about. |
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| 29 | * We compute control input and output in terms of 11 bit ranges then. |
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| 30 | */ |
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| 31 | |||
| 32 | #define LOG_CONTROL_RANGE 11 |
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| 33 | #define CONTROL_RANGE (1<<LOG_CONTROL_RANGE) |
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| 34 | |||
| 35 | // For scaling control input quantities to bytes (configuration parameters). |
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| 36 | #define LOG_CONTROL_BYTE_SCALING (LOG_CONTROL_RANGE - 8) |
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| 37 | |||
| 38 | // MK BLC 1.x use 8 bit values. MK BLC 2.x use 10 bits. 10 bits is not implemented and probably doesnt |
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| 39 | // make a practical difference anyway. |
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| 40 | #define LOG_I2C_CONTROL_RANGE 8 |
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| 41 | |||
| 42 | // Scale throttle levels to MK BLCs 8 bit range: |
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| 43 | #define LOG_I2C_CONTROL_SCALING (LOG_CONTROL_RANGE - LOG_I2C_CONTROL_RANGE) |
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| 44 | |||
| 45 | #endif |