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#ifndef _DEFINITIONS_H
#define _DEFINITIONS_H
/*
* Signal qualities, used to determine the availability of a control.
* NO_SIGNAL means there was never a signal. SIGNAL_LOST that there was a signal, but it was lost.
* SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage
* or disengage emergency landing.
* SIGNAL_OK means the signal is usable for flight.
* SIGNAL_GOOD means the signal can also be used for setting parameters.
*/
#define NO_SIGNAL 0
#define SIGNAL_LOST 1
#define SIGNAL_BAD 2
#define SIGNAL_OK 3
#define SIGNAL_GOOD 4
/*
* The RPTY arrays
*/
#define CONTROL_ROLL 0
#define CONTROL_PITCH 1
#define CONTROL_THROTTLE 2
#define CONTROL_YAW 3
/*
* The controls operate in [-1024, 1024] just about.
* We compute control input and output in terms of 11 bit ranges then.
*/
#define LOG_CONTROL_RANGE 11
#define CONTROL_RANGE (1<<LOG_CONTROL_RANGE)
// For scaling control input quantities to bytes (configuration parameters).
#define LOG_CONTROL_BYTE_SCALING (LOG_CONTROL_RANGE - 8)
// MK BLC 1.x use 8 bit values. MK BLC 2.x use 10 bits. 10 bits is not implemented and probably doesnt
// make a practical difference anyway.
#define LOG_I2C_CONTROL_RANGE 8
// Scale throttle levels to MK BLCs 8 bit range:
#define LOG_I2C_CONTROL_SCALING (LOG_CONTROL_RANGE - LOG_I2C_CONTROL_RANGE)
#endif