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 <stdbool.h>
  21
  22 #include "common/axis.h"
  23
  24 #include "pg/gps_rescue.h"
  25
  26 #define TASK_GPS_RESCUE_RATE_HZ 100  // in sync with altitude task rate
  27
  28 #ifdef USE_MAG
  29 #define GPS_RESCUE_USE_MAG  true
  30 #else
  31 #define GPS_RESCUE_USE_MAG  false
  32 #endif
  33
  34 typedef enum {
  35     RESCUE_SANITY_OFF = 0,
  36     RESCUE_SANITY_ON,
  37     RESCUE_SANITY_FS_ONLY,
  38     RESCUE_SANITY_COUNT
  39 } gpsRescueSanity_e;
  40
  41 typedef enum {
  42     GPS_RESCUE_ALT_MODE_MAX = 0,
  43     GPS_RESCUE_ALT_MODE_FIXED,
  44     GPS_RESCUE_ALT_MODE_CURRENT,
  45     GPS_RESCUE_ALT_MODE_COUNT
  46 } gpsRescueAltitudeMode_e;
  47
  48 extern float gpsRescueAngle[RP_AXIS_COUNT]; // NOTE: ANGLES ARE IN CENTIDEGREES
  49
  50 void gpsRescueInit(void);
  51 void gpsRescueUpdate(void);
  52 float gpsRescueGetYawRate(void);
  53 bool gpsRescueIsConfigured(void);
  54 bool gpsRescueIsAvailable(void);
  55 bool gpsRescueIsDisabled(void);
  56 bool gpsRescueDisableMag(void);
  57 float gpsRescueGetImuYawCogGain(void);