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| Rev 1645 | Rev 1775 | ||
|---|---|---|---|
| 1 | /*********************************************************************************/ |
1 | /*********************************************************************************/ |
| 2 | /* Flight Control */ |
2 | /* Flight Control */ |
| 3 | /*********************************************************************************/ |
3 | /*********************************************************************************/ |
| 4 | 4 | ||
| 5 | #ifndef _FLIGHT_H |
5 | #ifndef _FLIGHT_H |
| 6 | #define _FLIGHT_H |
6 | #define _FLIGHT_H |
| 7 | 7 | ||
| 8 | #include <inttypes.h> |
8 | #include <inttypes.h> |
| 9 | #include "analog.h" |
9 | #include "analog.h" |
| 10 | #include "configuration.h" |
10 | #include "configuration.h" |
| 11 | 11 | ||
| 12 | #define PITCH 0 |
12 | #define PITCH 0 |
| 13 | #define ROLL 1 |
13 | #define ROLL 1 |
| - | 14 | ||
| - | 15 | /* |
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| - | 16 | * The output BLC throttles can be set in an [0..256[ interval. Some staticParams limits |
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| - | 17 | * (min, throttle, max throttle etc) are in a [0..256[ interval. |
|
| - | 18 | * The calculation of motor throttle values from sensor and control information (basically |
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| - | 19 | * flight.c) take place in an [0..1024[ interval for better precision. |
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| - | 20 | * This is the conversion factor. |
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| - | 21 | * --> Replaced back again by CONTROL_SCALING. Even though the 2 things are not quite the |
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| - | 22 | * same, they are unseperable anyway. |
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| - | 23 | */ |
|
| 14 | 24 | ||
| 15 | extern uint8_t RequiredMotors; |
25 | extern uint8_t RequiredMotors; |
| 16 | 26 | ||
| 17 | // looping params |
27 | // looping params |
| 18 | // extern long TurnOver180Nick, TurnOver180Roll; |
28 | // extern long TurnOver180Nick, TurnOver180Roll; |
| 19 | 29 | ||
| 20 | // external control |
30 | // external control |
| 21 | extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
31 | // extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
| 22 | - | ||
| 23 | extern int16_t naviAccPitch, naviAccRoll, naviCntAcc; |
32 | // extern int16_t naviAccPitch, naviAccRoll, naviCntAcc; |
| - | 33 | ||
| - | 34 | // TODO: Rip em up, replace by a flight-state machine. |
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| 24 | 35 | // OK first step: Move to control mixer, where the state machine will be located anyway. |
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| - | 36 | // extern volatile uint8_t MKFlags; |
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| 25 | extern volatile uint8_t MKFlags; |
37 | // extern uint16_t isFlying; |
| 26 | 38 | ||
| 27 | void flight_control(void); |
39 | void flight_control(void); |
| 28 | void sendMotorData(void); |
40 | void transmitMotorThrottleData(void); |
| 29 | void flight_setNeutral(void); |
41 | void flight_setNeutral(void); |
| 30 | 42 | ||
| 31 | #endif //_FLIGHT_H |
43 | #endif //_FLIGHT_H |
| 32 | 44 | ||