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