src/main/flight/gps_rescue.h

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Betaflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "common/axis.h"
  21
  22 #include "pg/pg.h"
  23
  24 typedef struct gpsRescue_s {
  25     uint16_t angle; //degrees
  26     uint16_t initialAltitudeM; //meters
  27     uint16_t descentDistanceM; //meters
  28     uint16_t rescueGroundspeed; //centimeters per second
  29     uint16_t throttleP, throttleI, throttleD;
  30     uint16_t yawP;
  31     uint16_t throttleMin;
  32     uint16_t throttleMax;
  33     uint16_t throttleHover;
  34     uint16_t velP, velI, velD;
  35     uint8_t minSats;
  36     uint16_t minRescueDth; //meters
  37     uint8_t sanityChecks;
  38     uint8_t allowArmingWithoutFix;
  39     uint8_t useMag;
  40     uint16_t targetLandingAltitudeM; //meters
  41     uint16_t targetLandingDistanceM; //meters
  42     uint8_t altitudeMode;
  43     uint16_t ascendRate;
  44     uint16_t descendRate;
  45     uint16_t rescueAltitudeBufferM; //meters
  46 } gpsRescueConfig_t;
  47
  48 PG_DECLARE(gpsRescueConfig_t, gpsRescueConfig);
  49
  50 extern int32_t gpsRescueAngle[ANGLE_INDEX_COUNT]; //NOTE: ANGLES ARE IN CENTIDEGREES
  51
  52 void updateGPSRescueState(void);
  53 void rescueNewGpsData(void);
  54
  55 float gpsRescueGetYawRate(void);
  56 float gpsRescueGetThrottle(void);
  57 bool gpsRescueIsConfigured(void);
  58 bool gpsRescueIsAvailable(void);
  59 bool gpsRescueIsDisabled(void);
  60 bool gpsRescueDisableMag(void);