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9 | #include "analog.h" |
9 | #include "analog.h" |
10 | #include "configuration.h" |
10 | #include "configuration.h" |
Line 11... | Line 11... | ||
11 | 11 | ||
12 | #define PITCH 0 |
12 | #define PITCH 0 |
- | 13 | #define ROLL 1 |
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13 | #define ROLL 1 |
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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. |
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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 | */ |
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24 | - | ||
25 | // looping params |
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26 | // extern long TurnOver180Nick, TurnOver180Roll; |
14 | #define YAW 2 |
27 | - | ||
28 | // external control |
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29 | // extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
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30 | // extern int16_t naviAccPitch, naviAccRoll, naviCntAcc; |
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31 | - | ||
32 | // TODO: Rip em up, replace by a flight-state machine. |
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33 | // OK first step: Move to control mixer, where the state machine will be located anyway. |
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Line 34... | Line 15... | ||
34 | // extern volatile uint8_t MKFlags; |
15 | |
- | 16 | #define MAX_SERVOS 8 |
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- | 17 | ||
- | 18 | extern int16_t servos[MAX_SERVOS]; |
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- | 19 | ||
- | 20 | typedef enum { |
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- | 21 | FLIGHT_MODE_MANUAL, |
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35 | // extern uint16_t isFlying; |
22 | FLIGHT_MODE_RATE, |
36 | 23 | FLIGHT_MODE_ANGLES |
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37 | #define HH_RANGE ((int32_t)GYRO_DEG_FACTOR_PITCHROLL * 30) |
24 | } FlightMode_t; |