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| Rev 1775 | Rev 1960 | ||
|---|---|---|---|
| 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 | 14 | ||
| 15 | /* |
15 | /* |
| 16 | * The output BLC throttles can be set in an [0..256[ interval. Some staticParams limits |
16 | * The output BLC throttles can be set in an [0..256[ interval. Some staticParams limits |
| 17 | * (min, throttle, max throttle etc) are in a [0..256[ interval. |
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 |
18 | * The calculation of motor throttle values from sensor and control information (basically |
| 19 | * flight.c) take place in an [0..1024[ interval for better precision. |
19 | * flight.c) take place in an [0..1024[ interval for better precision. |
| 20 | * This is the conversion factor. |
20 | * This is the conversion factor. |
| 21 | * --> Replaced back again by CONTROL_SCALING. Even though the 2 things are not quite the |
21 | * --> Replaced back again by CONTROL_SCALING. Even though the 2 things are not quite the |
| 22 | * same, they are unseperable anyway. |
22 | * same, they are unseperable anyway. |
| 23 | */ |
23 | */ |
| 24 | - | ||
| 25 | extern uint8_t RequiredMotors; |
- | |
| 26 | 24 | ||
| 27 | // looping params |
25 | // looping params |
| 28 | // extern long TurnOver180Nick, TurnOver180Roll; |
26 | // extern long TurnOver180Nick, TurnOver180Roll; |
| 29 | 27 | ||
| 30 | // external control |
28 | // external control |
| 31 | // extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
29 | // extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
| 32 | // extern int16_t naviAccPitch, naviAccRoll, naviCntAcc; |
30 | // extern int16_t naviAccPitch, naviAccRoll, naviCntAcc; |
| 33 | 31 | ||
| 34 | // TODO: Rip em up, replace by a flight-state machine. |
32 | // TODO: Rip em up, replace by a flight-state machine. |
| 35 | // OK first step: Move to control mixer, where the state machine will be located anyway. |
33 | // OK first step: Move to control mixer, where the state machine will be located anyway. |
| 36 | // extern volatile uint8_t MKFlags; |
34 | // extern volatile uint8_t MKFlags; |
| 37 | // extern uint16_t isFlying; |
35 | // extern uint16_t isFlying; |
| 38 | 36 | ||
| 39 | void flight_control(void); |
37 | void flight_control(void); |
| 40 | void transmitMotorThrottleData(void); |
38 | void transmitMotorThrottleData(void); |
| 41 | void flight_setNeutral(void); |
39 | void flight_setNeutral(void); |
| 42 | 40 | ||
| 43 | #endif //_FLIGHT_H |
41 | #endif //_FLIGHT_H |
| 44 | 42 | ||