| 0,0 → 1,75 |
|---|
| /*********************************************************************************/ |
| /* Stick control interface */ |
| /*********************************************************************************/ |
| /* |
| OBSOLETED BY controlMixer.h. But this is how it looked - maybe somebody will find it simpler? |
| |
| #ifndef _CONTROL_H |
| #define _CONTROL_H |
| |
| #include <inttypes.h> |
| #define CONTROL_SCALING 4 |
| |
| // 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 |
| |
| extern int16_t stickPitch, stickRoll, stickYaw, stickThrottle; |
| extern int16_t stickOffsetNick, stickOffsetRoll; |
| extern uint16_t maxStickPitch, maxStickRoll; |
| extern uint8_t loopingPitch, loopingRoll; |
| |
| // external control |
| extern int16_t externalStickPitch, externalStickRoll, externalStickYaw; |
| |
| // current GPS-stick values |
| extern int16_t GPSStickPitch, GPSStickRoll; |
| |
| 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; |
| |
| extern ExternalControl_t externalControl; |
| |
| //uint8_t control_getLeftStickCalibrateIndex(void); |
| //uint8_t control_getLeftStickMotorStartIndex(void); |
| //uint8_t control_getRightRCStickIndex(void); |
| void control_initPots(void); |
| void control_updatePots(void); |
| |
| void setCompassCalState(void); |
| void updateCompass(void); |
| |
| void control_setNeutral(void); |
| void control_update(void); |
| |
| #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 |
| |
| void control_senseStickCommands(void); |
| uint8_t control_getStickCommand(void); |
| uint8_t control_isStickCommandRepeated(void); |
| |
| void control_performPilotCalibrationCommands(uint8_t stickCommand); |
| |
| extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
| extern uint8_t control_hasNewRCData(void); |
| |
| #endif //_CONTROL_H |
| */ |