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Rev 1910 Rev 2099
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/*********************************************************************************/
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/*********************************************************************************/
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/* Flight Control                                                                */
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/* Flight Control                                                                */
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/*********************************************************************************/
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/*********************************************************************************/
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#ifndef _FLIGHT_H
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#ifndef _FLIGHT_H
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#define _FLIGHT_H
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#define _FLIGHT_H
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#include <inttypes.h>
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#include <inttypes.h>
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#include "analog.h"
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#include "analog.h"
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#include "configuration.h"
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#include "configuration.h"
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#define PITCH 0
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#define PITCH 0
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#define ROLL 1
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#define ROLL 1
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#define YAW 2
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/*
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 * The output BLC throttles can be set in an [0..256[ interval. Some staticParams limits
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 * (min, throttle, max throttle etc) are in a [0..256[ interval.
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 * The calculation of motor throttle values from sensor and control information (basically
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 * flight.c) take place in an [0..1024[ interval for better precision.
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 * This is the conversion factor.
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 * --> Replaced back again by CONTROL_SCALING. Even though the 2 things are not quite the
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 * same, they are unseperable anyway.
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 */
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#define MAX_SERVOS 8
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// looping params
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// extern long TurnOver180Nick, TurnOver180Roll;
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extern int16_t servos[MAX_SERVOS];
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// external control
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// extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw;
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// extern int16_t naviAccPitch, naviAccRoll, naviCntAcc;
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typedef enum {
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// TODO: Rip em up, replace by a flight-state machine.
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  FLIGHT_MODE_MANUAL,
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// OK first step: Move to control mixer, where the state machine will be located anyway.
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// extern volatile uint8_t MKFlags;
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// extern uint16_t isFlying;
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  FLIGHT_MODE_RATE,
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  FLIGHT_MODE_ANGLES
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#define HH_RANGE ((int32_t)GYRO_DEG_FACTOR_PITCHROLL * 30)
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} FlightMode_t;
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void flight_control(void);
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void flight_control(void);
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void transmitMotorThrottleData(void);
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void transmitMotorThrottleData(void);
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void flight_setNeutral(void);
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void flight_setNeutral(void);
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#endif //_FLIGHT_H
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#endif //_FLIGHT_H
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