123 lines
2.5 KiB
C
123 lines
2.5 KiB
C
#pragma once
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enum {
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PIDROLL,
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PIDPITCH,
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PIDYAW,
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PIDALT,
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PIDPOS,
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PIDPOSR,
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PIDNAVR,
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PIDLEVEL,
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PIDMAG,
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PIDVEL,
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PID_ITEM_COUNT
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};
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typedef struct pidProfile_s {
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uint8_t P8[PID_ITEM_COUNT];
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uint8_t I8[PID_ITEM_COUNT];
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uint8_t D8[PID_ITEM_COUNT];
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float P_f[3]; // float p i and d factors for the new baseflight pid
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float I_f[3];
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float D_f[3];
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float A_level;
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float H_level;
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} pidProfile_t;
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typedef enum {
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AI_ROLL = 0,
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AI_PITCH,
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} angle_index_t;
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#define ANGLE_INDEX_COUNT 2
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// See http://en.wikipedia.org/wiki/Flight_dynamics
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typedef enum {
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FD_ROLL = 0,
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FD_PITCH,
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FD_YAW
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} flight_dynamics_index_t;
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#define FLIGHT_DYNAMICS_INDEX_COUNT 3
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typedef struct fp_vector {
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float X;
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float Y;
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float Z;
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} t_fp_vector_def;
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typedef union {
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float A[3];
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t_fp_vector_def V;
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} t_fp_vector;
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typedef struct fp_angles {
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float roll;
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float pitch;
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float yaw;
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} fp_angles_def;
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typedef union {
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float raw[3];
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fp_angles_def angles;
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} fp_angles_t;
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typedef struct int16_flightDynamicsTrims_s {
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int16_t roll;
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int16_t pitch;
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int16_t yaw;
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} int16_flightDynamicsTrims_def_t;
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typedef union {
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int16_t raw[3];
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int16_flightDynamicsTrims_def_t trims;
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} int16_flightDynamicsTrims_t;
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typedef struct rollAndPitchTrims_s {
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int16_t roll;
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int16_t pitch;
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} rollAndPitchTrims_t_def;
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typedef union {
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int16_t raw[2];
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rollAndPitchTrims_t_def trims;
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} rollAndPitchTrims_t;
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typedef struct rollAndPitchInclination_s {
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// absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
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int16_t rollDeciDegrees;
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int16_t pitchDeciDegrees;
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} rollAndPitchInclination_t_def;
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typedef union {
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int16_t rawAngles[ANGLE_INDEX_COUNT];
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rollAndPitchInclination_t_def angle;
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} rollAndPitchInclination_t;
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extern rollAndPitchInclination_t inclination;
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extern int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT];
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extern int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT];
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extern int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
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extern int32_t accSum[XYZ_AXIS_COUNT];
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extern int16_t axisPID[XYZ_AXIS_COUNT];
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extern int16_t heading, magHold;
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extern int32_t EstAlt;
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extern int32_t AltHold;
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extern int32_t EstAlt;
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extern int32_t vario;
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void setPIDController(int type);
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void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
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void resetErrorAngle(void);
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void resetErrorGyro(void);
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