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1 | #ifndef COPTER_H |
1 | #ifndef COPTER_H |
2 | #define COPTER_H |
2 | #define COPTER_H |
3 | #include <string> |
3 | #include <string> |
4 | 4 | ||
5 | using namespace std; |
5 | using namespace std; |
6 | 6 | ||
7 | /** |
7 | /** |
8 | * This file contains informations and configurations from the Mikrokopter |
8 | * This file contains informations and configurations from the Mikrokopter |
9 | */ |
9 | */ |
10 | 10 | ||
11 | // version information for the serial connection |
11 | // version information for the serial connection |
12 | static const int VERSION_SERIAL_MAJOR = 10; |
12 | static const int VERSION_SERIAL_MAJOR = 10; |
13 | static const int VERSION_SERIAL_MINOR = 0; |
13 | static const int VERSION_SERIAL_MINOR = 0; |
14 | 14 | ||
15 | // Basis-Adresses for different Hardware components |
15 | // Basis-Adresses for different Hardware components |
16 | static const int ADDRESS_ALL = 0; |
16 | static const int ADDRESS_ALL = 0; |
17 | static const int ADDRESS_FC = 1; |
17 | static const int ADDRESS_FC = 1; |
18 | static const int ADDRESS_NC = 2; |
18 | static const int ADDRESS_NC = 2; |
19 | static const int ADDRESS_MK3MAG = 3; |
19 | static const int ADDRESS_MK3MAG = 3; |
20 | 20 | ||
21 | // settings ID |
21 | // settings ID |
22 | static const int SETTINGS_ID = 2; |
22 | static const int SETTINGS_ID = 2; |
23 | 23 | ||
24 | static const string HardwareType[] = {"Default", "FlightCtrl", "NaviCtrl", "MK3Mag"}; |
24 | static const string HardwareType[] = {"Default", "FlightCtrl", "NaviCtrl", "MK3Mag"}; |
25 | 25 | ||
26 | static const int MaxTickerEvents = 5; |
26 | static const int MaxTickerEvents = 5; |
27 | 27 | ||
28 | static const int MaxAnalog = 32; |
28 | static const int MaxAnalog = 32; |
29 | static const int MaxPlot = 50000; |
29 | static const int MaxPlot = 50000; |
30 | 30 | ||
31 | static const int MaxNaviPos = 2000; |
31 | static const int MaxNaviPos = 2000; |
32 | 32 | ||
33 | struct sMotor |
33 | struct sMotor |
34 | { |
34 | { |
35 | int Speed[12]; |
35 | int Speed[12]; |
36 | }; |
36 | }; |
- | 37 | ||
- | 38 | struct MotorData |
|
- | 39 | { |
|
- | 40 | int motor[16][4]; |
|
- | 41 | string mixerName; |
|
- | 42 | int mixerVersion; |
|
- | 43 | }; |
|
37 | 44 | ||
38 | struct sMode |
45 | struct sMode |
39 | { |
46 | { |
40 | int ID; |
47 | int ID; |
41 | int VERSION_MAJOR; |
48 | int VERSION_MAJOR; |
42 | int VERSION_MINOR; |
49 | int VERSION_MINOR; |
43 | int VERSION_PATCH; |
50 | int VERSION_PATCH; |
44 | int VERSION_SERIAL_MAJOR; |
51 | int VERSION_SERIAL_MAJOR; |
45 | int VERSION_SERIAL_MINOR; |
52 | int VERSION_SERIAL_MINOR; |
46 | string Hardware; |
53 | string Hardware; |
47 | string Version; |
54 | string Version; |
48 | }; |
55 | }; |
49 | 56 | ||
50 | struct sGPS_Pos |
57 | struct sGPS_Pos |
51 | { |
58 | { |
52 | long Longitude; |
59 | long Longitude; |
53 | long Latitude; |
60 | long Latitude; |
54 | long Altitude; |
61 | long Altitude; |
55 | }; |
62 | }; |
56 | 63 | ||
57 | struct sNaviData |
64 | struct sNaviData |
58 | { |
65 | { |
59 | sGPS_Pos Current; |
66 | sGPS_Pos Current; |
60 | sGPS_Pos Target; |
67 | sGPS_Pos Target; |
61 | sGPS_Pos Home; |
68 | sGPS_Pos Home; |
62 | 69 | ||
63 | long Longitude; |
70 | long Longitude; |
64 | long Latitude; |
71 | long Latitude; |
65 | long Altitude; |
72 | long Altitude; |
66 | }; |
73 | }; |
67 | - | ||
68 | struct sNaviString |
- | |
69 | { |
- | |
70 | float Longitude; |
- | |
71 | float Latitude; |
- | |
72 | float Altitude; |
- | |
73 | }; |
- | |
74 | 74 | ||
75 | struct sWayPoint |
75 | struct sWayPoint |
76 | { |
76 | { |
77 | double Longitude; |
77 | double Longitude; |
78 | double Latitude; |
78 | double Latitude; |
79 | double Altitude; |
79 | double Altitude; |
80 | int Time; |
80 | int Time; |
81 | }; |
81 | }; |
- | 82 | ||
- | 83 | /** |
|
- | 84 | * The KopterData class represents the current state of the MikroKopter. |
|
- | 85 | * It containes all data that was sent from the Mikrokopter |
|
- | 86 | */ |
|
- | 87 | class KopterData { |
|
- | 88 | public: |
|
- | 89 | sMode mode; |
|
- | 90 | sNaviData navi; |
|
- | 91 | sMotor motor; |
|
- | 92 | int analogData[MaxAnalog]; |
|
- | 93 | // current LCD page |
|
- | 94 | int lcd_cur; |
|
- | 95 | //max count of LCD pages |
|
- | 96 | int lcd_max; |
|
- | 97 | }; |
|
82 | 98 | ||
83 | #endif |
99 | #endif |