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91 | } t_control; |
91 | } t_control; |
Line 92... | Line 92... | ||
92 | 92 | ||
93 | /* |
93 | /* |
94 | * Our output. |
94 | * Our output. |
95 | */ |
95 | */ |
96 | extern int16_t controlPitch, controlRoll, controlYaw, controlThrottle; |
96 | extern int16_t control[2], controlYaw, controlThrottle; |
97 | // extern int16_t stickOffsetNick, stickOffsetRoll; |
97 | // extern int16_t stickOffsetNick, stickOffsetRoll; |
98 | extern uint16_t maxControlPitch, maxControlRoll; |
98 | extern uint16_t maxControl[2]; |
Line 99... | Line 99... | ||
99 | extern uint8_t looping; |
99 | extern uint8_t looping; |
100 | 100 | ||
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115 | 115 | ||
Line 116... | Line 116... | ||
116 | void controlMixer_performCalibrationCommands(uint8_t command); |
116 | void controlMixer_performCalibrationCommands(uint8_t command); |
Line -... | Line 117... | ||
- | 117 | ||
- | 118 | uint8_t controlMixer_getSignalQuality(void); |
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- | 119 | ||
- | 120 | /* |
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- | 121 | * The motor throttles can be set in an [0..256[ interval. |
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117 | 122 | * The calculation of motor throttle values from sensor and control information (basically |
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Line 118... | Line 123... | ||
118 | uint8_t controlMixer_getSignalQuality(void); |
123 | * flight.c) take place in an [0..256*CONTROL_SCALING[ interval for better precision. |
119 | 124 | */ |
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120 | #define STICK_GAIN 4 |
125 | #define CONTROL_SCALING 4 |
121 | 126 |