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| Rev 2052 | Rev 2189 | ||
|---|---|---|---|
| 1 | #ifndef _COMPASS_H |
1 | #ifndef _COMPASS_H |
| 2 | #define _COMPASSRC_H |
2 | #define _COMPASSRC_H |
| 3 | 3 | ||
| 4 | #include <inttypes.h> |
4 | #include <inttypes.h> |
| 5 | 5 | ||
| 6 | // 4 modes of control (like with the simple height controller): |
6 | // 4 modes of control (like with the simple height controller): |
| 7 | // 0) Off: Normal yaw control, supported by compass (anti drift) if present and enabled |
7 | // 0) Off: Normal yaw control, supported by compass (anti drift) if present and enabled |
| 8 | // 1) Heading is captured at takeoff, and held there (plus / minus bending via remote) |
8 | // 1) Heading is captured at takeoff, and held there (plus / minus bending via remote) |
| 9 | // 2) A variable controls the heading (plus / minus bending via remote) (not implemented, is it useful at all?) |
9 | // 2) A variable controls the heading (plus / minus bending via remote) (not implemented, is it useful at all?) |
| 10 | // 3) Navigation controls the heading (plus / minus bending via remote) |
10 | // 3) Navigation controls the heading (plus / minus bending via remote) |
| 11 | 11 | ||
| 12 | #define COMPASS_MODE_OFF 0 |
12 | #define COMPASS_MODE_OFF 0 |
| 13 | #define COMPASS_MODE_TAKEOFF 1 |
13 | #define COMPASS_MODE_TAKEOFF 1 |
| 14 | //#define COMPASS_MODE_RCVARIABLE 2 |
14 | //#define COMPASS_MODE_RCVARIABLE 2 |
| 15 | #define COMPASS_MODE_NAVIGATION 3 |
15 | #define COMPASS_MODE_NAVIGATION 3 |
| 16 | 16 | ||
| 17 | // public read write. |
17 | // public read write. |
| 18 | extern int32_t navigationTargetHeading; |
18 | extern int32_t navigationTargetHeading; |
| 19 | 19 | ||
| 20 | void compass_setTakeoffHeading(int32_t heading); |
20 | void compass_setTakeoffHeading(int32_t heading); |
| 21 | void CC_periodicTaskAndPRTY(int16_t* PRTY); |
21 | void CC_periodicTaskAndRPTY(int16_t* RPTY); |
| 22 | 22 | ||
| 23 | #endif |
23 | #endif |
| 24 | 24 | ||