src/main/flight/mixer_init.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "platform.h"
  24
  25 #include "flight/mixer.h"
  26
  27 typedef struct mixerRuntime_s {
  28     uint8_t motorCount;
  29     motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
  30 #ifdef USE_LAUNCH_CONTROL
  31     motorMixer_t launchControlMixer[MAX_SUPPORTED_MOTORS];
  32 #endif
  33     bool feature3dEnabled;
  34     float motorOutputLow;
  35     float motorOutputHigh;
  36     float disarmMotorOutput;
  37     float deadbandMotor3dHigh;
  38     float deadbandMotor3dLow;
  39 #ifdef USE_DYN_IDLE
  40     float dynIdleMaxIncrease;
  41     float dynIdleStartIncrease;
  42     float dynIdleMinRps;
  43     float dynIdlePGain;
  44     float prevMinRps;
  45     float dynIdleIGain;
  46     float dynIdleDGain;
  47     float dynIdleI;
  48     float minRpsDelayK;
  49 #endif
  50 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
  51     float vbatSagCompensationFactor;
  52     float vbatFull;
  53     float vbatRangeToCompensate;
  54 #endif
  55 #if defined(USE_RPM_LIMIT)
  56     float rpmLimiterRpmLimit;
  57     float rpmLimiterThrottleScale;
  58     float rpmLimiterInitialThrottleScale;
  59     float rpmLimiterPGain;
  60     float rpmLimiterIGain;
  61     float rpmLimiterDGain;
  62     float rpmLimiterI;
  63     pt1Filter_t rpmLimiterAverageRpmFilter;
  64     pt1Filter_t rpmLimiterThrottleScaleOffsetFilter;
  65 #endif
  66     float ezLandingThreshold;
  67     float ezLandingLimit;
  68     float ezLandingSpeed;
  69 } mixerRuntime_t;
  70
  71 extern mixerRuntime_t mixerRuntime;