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Rev | Author | Line No. | Line |
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1645 | - | 1 | /*********************************************************************************/ |
2 | /* Flight Control */ |
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3 | /*********************************************************************************/ |
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1612 | dongfang | 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 | |||
1645 | - | 12 | #define PITCH 0 |
13 | #define ROLL 1 |
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14 | |||
1775 | - | 15 | /* |
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 | |||
1612 | dongfang | 25 | extern uint8_t RequiredMotors; |
26 | |||
27 | // looping params |
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1616 | dongfang | 28 | // extern long TurnOver180Nick, TurnOver180Roll; |
1612 | dongfang | 29 | |
30 | // external control |
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1775 | - | 31 | // extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
32 | // extern int16_t naviAccPitch, naviAccRoll, naviCntAcc; |
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1612 | dongfang | 33 | |
1775 | - | 34 | // TODO: Rip em up, replace by a flight-state machine. |
35 | // OK first step: Move to control mixer, where the state machine will be located anyway. |
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36 | // extern volatile uint8_t MKFlags; |
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37 | // extern uint16_t isFlying; |
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1612 | dongfang | 38 | |
39 | void flight_control(void); |
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1775 | - | 40 | void transmitMotorThrottleData(void); |
1612 | dongfang | 41 | void flight_setNeutral(void); |
42 | |||
43 | #endif //_FLIGHT_H |