src/main/fc/core.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 "common/time.h"
  24 #include "pg/pg.h"
  25
  26 #if defined(USE_GPS) || defined(USE_MAG)
  27 extern int16_t magHold;
  28 #endif
  29
  30 typedef struct throttleCorrectionConfig_s {
  31     uint16_t throttle_correction_angle;     // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
  32     uint8_t throttle_correction_value;      // the correction that will be applied at throttle_correction_angle.
  33 } throttleCorrectionConfig_t;
  34
  35 typedef enum {
  36     LAUNCH_CONTROL_DISABLED = 0,
  37     LAUNCH_CONTROL_ACTIVE,
  38     LAUNCH_CONTROL_TRIGGERED,
  39 } launchControlState_e;
  40
  41 typedef enum {
  42     LAUNCH_CONTROL_MODE_NORMAL = 0,
  43     LAUNCH_CONTROL_MODE_PITCHONLY,
  44     LAUNCH_CONTROL_MODE_FULL,
  45     LAUNCH_CONTROL_MODE_COUNT // must be the last element
  46 } launchControlMode_e;
  47
  48 typedef enum {
  49     DISARM_REASON_ARMING_DISABLED   = 0,
  50     DISARM_REASON_FAILSAFE          = 1,
  51     DISARM_REASON_THROTTLE_TIMEOUT  = 2,
  52     DISARM_REASON_STICKS            = 3,
  53     DISARM_REASON_SWITCH            = 4,
  54     DISARM_REASON_CRASH_PROTECTION  = 5,
  55     DISARM_REASON_RUNAWAY_TAKEOFF   = 6,
  56     DISARM_REASON_GPS_RESCUE        = 7,
  57     DISARM_REASON_SERIAL_COMMAND    = 8,
  58 #ifdef UNIT_TEST
  59     DISARM_REASON_SYSTEM            = 255,
  60 #endif
  61 } flightLogDisarmReason_e;
  62
  63 #ifdef USE_LAUNCH_CONTROL
  64 #define LAUNCH_CONTROL_THROTTLE_TRIGGER_MAX 90
  65 extern const char * const osdLaunchControlModeNames[LAUNCH_CONTROL_MODE_COUNT];
  66 #endif
  67
  68 PG_DECLARE(throttleCorrectionConfig_t, throttleCorrectionConfig);
  69
  70 union rollAndPitchTrims_u;
  71 void handleInflightCalibrationStickPosition(void);
  72
  73 void resetArmingDisabled(void);
  74
  75 void disarm(flightLogDisarmReason_e reason);
  76 void tryArm(void);
  77
  78 bool processRx(timeUs_t currentTimeUs);
  79 void processRxModes(timeUs_t currentTimeUs);
  80 void updateArmingStatus(void);
  81
  82 void taskGyroSample(timeUs_t currentTimeUs);
  83 bool gyroFilterReady(void);
  84 bool pidLoopReady(void);
  85 void taskFiltering(timeUs_t currentTimeUs);
  86 void taskMainPidLoop(timeUs_t currentTimeUs);
  87
  88 bool isFlipOverAfterCrashActive(void);
  89 int8_t calculateThrottlePercent(void);
  90 uint8_t calculateThrottlePercentAbs(void);
  91 bool areSticksActive(uint8_t stickPercentLimit);
  92 void runawayTakeoffTemporaryDisable(uint8_t disableFlag);
  93 bool isAirmodeActivated();
  94 timeUs_t getLastDisarmTimeUs(void);
  95 bool isTryingToArm();
  96 void resetTryingToArm();
  97
  98 void subTaskTelemetryPollSensors(timeUs_t currentTimeUs);
  99
 100 bool isLaunchControlActive(void);