0,0 → 1,75 |
/*####################################################################################### |
Stick control interface |
#######################################################################################*/ |
/* |
OBSOLETED BY controlMixer.h. But this is how it looked - maybe somebody will find it simpler? |
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#ifndef _CONTROL_H |
#define _CONTROL_H |
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#include <inttypes.h> |
#define STICK_GAIN 4 |
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// defines for lookup staticParams.ChannelAssignment |
#define CH_PITCH 0 |
#define CH_ROLL 1 |
#define CH_THROTTLE 2 |
#define CH_YAW 3 |
#define CH_POTS 4 |
#define POT_OFFSET 110 |
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extern int16_t stickPitch, stickRoll, stickYaw, stickThrottle; |
extern int16_t stickOffsetNick, stickOffsetRoll; |
extern uint16_t maxStickPitch, maxStickRoll; |
extern uint8_t loopingPitch, loopingRoll; |
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// external control |
extern int16_t externalStickPitch, externalStickRoll, externalStickYaw; |
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// current GPS-stick values |
extern int16_t GPSStickPitch, GPSStickRoll; |
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typedef struct { |
uint8_t digital[2]; |
uint8_t eemoteButtons; |
int8_t pitch; |
int8_t roll; |
int8_t yaw; |
uint8_t throttle; |
int8_t height; |
uint8_t free; |
uint8_t frame; |
uint8_t config; |
} __attribute__((packed)) ExternalControl_t; |
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extern ExternalControl_t externalControl; |
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//uint8_t control_getLeftStickCalibrateIndex(void); |
//uint8_t control_getLeftStickMotorStartIndex(void); |
//uint8_t control_getRightRCStickIndex(void); |
void control_initPots(void); |
void control_updatePots(void); |
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void setCompassCalState(void); |
void updateCompass(void); |
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void control_setNeutral(void); |
void control_update(void); |
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#define STICK_COMMAND_UNDEF 0 |
#define STICK_COMMAND_START 6 |
#define STICK_COMMAND_STOP 8 |
#define STICK_COMMAND_GYROCAL 2 |
#define STICK_COMMAND_ACCCAL 4 |
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void control_senseStickCommands(void); |
uint8_t control_getStickCommand(void); |
uint8_t control_isStickCommandRepeated(void); |
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void control_performPilotCalibrationCommands(uint8_t stickCommand); |
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extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
extern uint8_t control_hasNewRCData(void); |
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#endif //_CONTROL_H |
*/ |