src/main/fc/controlrate_profile.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 <stdint.h>
  24
  25 #include "pg/pg.h"
  26
  27 typedef enum {
  28     RATES_TYPE_BETAFLIGHT = 0,
  29     RATES_TYPE_RACEFLIGHT,
  30     RATES_TYPE_KISS,
  31     RATES_TYPE_ACTUAL,
  32     RATES_TYPE_QUICK,
  33     RATES_TYPE_COUNT    // must be the final entry
  34 } ratesType_e;
  35
  36 typedef struct ratesSettingsLimits_s {
  37     uint8_t rc_rate_limit;
  38     uint8_t srate_limit;
  39     uint8_t expo_limit;
  40 } ratesSettingsLimits_t;
  41
  42 typedef enum {
  43     THROTTLE_LIMIT_TYPE_OFF = 0,
  44     THROTTLE_LIMIT_TYPE_SCALE,
  45     THROTTLE_LIMIT_TYPE_CLIP,
  46     THROTTLE_LIMIT_TYPE_COUNT   // must be the last entry
  47 } throttleLimitType_e;
  48
  49 typedef enum {
  50     TPA_MODE_PD,
  51     TPA_MODE_D
  52 } tpaMode_e;
  53
  54 #define MAX_RATE_PROFILE_NAME_LENGTH 8u
  55
  56 typedef struct controlRateConfig_s {
  57     uint8_t thrMid8;
  58     uint8_t thrExpo8;
  59     uint8_t rates_type;
  60     uint8_t rcRates[3];
  61     uint8_t rcExpo[3];
  62     uint8_t rates[3];
  63     uint8_t dynThrPID;
  64     uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
  65     uint8_t throttle_limit_type;            // Sets the throttle limiting type - off, scale or clip
  66     uint8_t throttle_limit_percent;         // Sets the maximum pilot commanded throttle limit
  67     uint16_t rate_limit[3];                 // Sets the maximum rate for the axes
  68     uint8_t tpaMode;                        // Controls which PID terms TPA effects
  69     char profileName[MAX_RATE_PROFILE_NAME_LENGTH + 1]; // Descriptive name for rate profile
  70     uint8_t quickRatesRcExpo;               // Sets expo on rc command for quick rates
  71     uint8_t levelExpo[2];                   // roll/pitch level mode expo
  72 } controlRateConfig_t;
  73
  74 PG_DECLARE_ARRAY(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
  75
  76 extern controlRateConfig_t *currentControlRateProfile;
  77 extern const ratesSettingsLimits_t ratesSettingLimits[RATES_TYPE_COUNT];
  78
  79 void loadControlRateProfile(void);
  80 void changeControlRateProfile(uint8_t controlRateProfileIndex);
  81
  82 void copyControlRateProfile(const uint8_t dstControlRateProfileIndex, const uint8_t srcControlRateProfileIndex);