src/main/fc/rc.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 "drivers/time.h"
  24
  25 #include "fc/rc_controls.h"
  26
  27 #ifdef USE_RC_SMOOTHING_FILTER
  28 #define RC_SMOOTHING_AUTO_FACTOR_MIN 0
  29 #define RC_SMOOTHING_AUTO_FACTOR_MAX 250
  30 #endif
  31
  32 void processRcCommand(void);
  33 float getSetpointRate(int axis);
  34 float getRcDeflection(int axis);
  35 float getRcDeflectionAbs(int axis);
  36 float getThrottlePIDAttenuation(void);
  37 void updateRcCommands(void);
  38 void resetYawAxis(void);
  39 void initRcProcessing(void);
  40 bool isMotorsReversed(void);
  41 rcSmoothingFilter_t *getRcSmoothingData(void);
  42 bool rcSmoothingAutoCalculate(void);
  43 bool rcSmoothingInitializationComplete(void);
  44 float getRawSetpoint(int axis);
  45 float getRcCommandDelta(int axis);
  46 float applyCurve(int axis, float deflection);
  47 bool getShouldUpdateFeedforward();
  48 void updateRcRefreshRate(timeUs_t currentTimeUs);
  49 uint16_t getCurrentRxRefreshRate(void);
  50 bool getRxRateValid(void);