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 * This resembles somewhat an object-oriented class definition (except that there are no virtuals).
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 * This resembles somewhat an object-oriented class definition (except that there are no virtuals).
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 * The idea is that the combination of different control inputs, of the way they superimpose upon
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 * The idea is that the combination of different control inputs, of the way they superimpose upon
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 * each other, the priorities between them and the behavior in case that one fails is simplified,
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 * each other, the priorities between them and the behavior in case that one fails is simplified,
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 * and all in one place.
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 * and all in one place.
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 */
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 */
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/*
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/*
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 * Signal qualities, used to determine the availability of a control.
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 * Signal qualities, used to determine the availability of a control.
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 * NO_SIGNAL means there was never a signal. SIGNAL_LOST that there was a signal, but it was lost.
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 * NO_SIGNAL means there was never a signal. SIGNAL_LOST that there was a signal, but it was lost.
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 * SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage
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 * SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage
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 * or disengage emergency landing.
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 * or disengage emergency landing.
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/*
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/*
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 * This is only relevant for "abstract controls" ie. all control sources have the
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 * This is only relevant for "abstract controls" ie. all control sources have the
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 * same interface. This struct of code pointers is used like an abstract class
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 * same interface. This struct of code pointers is used like an abstract class
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 * definition from object-oriented languages, and all control input implementations
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 * definition from object-oriented languages, and all control input implementations
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 * will declare an instance of the stuct (=implementation of the abstract class).
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 * will declare an instance of the stuct (=implementation of the abstract class).
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 */
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 */
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typedef struct {
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typedef struct {
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  /* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
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        /* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
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  int16_t(*getPitch)(void);
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        int16_t(*getPitch)(void);
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        /* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
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        /* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
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  int16_t(*getRoll)(void);
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        int16_t(*getRoll)(void);
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        /* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
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        /* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
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  int16_t(*getYaw)(void);
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        int16_t(*getYaw)(void);
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        /* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */
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        /* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */
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  uint16_t(*getThrottle)(void);
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        uint16_t(*getThrottle)(void);
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  /* Signal quality, by the above SIGNAL_... definitions. */
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        /* Signal quality, by the above SIGNAL_... definitions. */
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  uint8_t (*getSignalQuality)(void);
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        uint8_t (*getSignalQuality)(void);
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  /* Calibrate sticks to their center positions (only relevant for R/C, really) */
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        /* Calibrate sticks to their center positions (only relevant for R/C, really) */
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  void (*calibrate)(void);
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        void (*calibrate)(void);
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} t_control;
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} t_control;