src/main/fc/rc_adjustments.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 <stdbool.h>
  24
  25 #include "fc/rc_modes.h"
  26
  27 #include "pg/pg.h"
  28
  29 typedef enum {
  30     ADJUSTMENT_NONE = 0,
  31     ADJUSTMENT_RC_RATE,
  32     ADJUSTMENT_RC_EXPO,
  33     ADJUSTMENT_THROTTLE_EXPO,
  34     ADJUSTMENT_PITCH_ROLL_RATE,
  35     ADJUSTMENT_YAW_RATE,
  36     ADJUSTMENT_PITCH_ROLL_P,
  37     ADJUSTMENT_PITCH_ROLL_I,
  38     ADJUSTMENT_PITCH_ROLL_D,
  39     ADJUSTMENT_YAW_P,
  40     ADJUSTMENT_YAW_I,
  41     ADJUSTMENT_YAW_D,
  42     ADJUSTMENT_RATE_PROFILE,
  43     ADJUSTMENT_PITCH_RATE,
  44     ADJUSTMENT_ROLL_RATE,
  45     ADJUSTMENT_PITCH_P,
  46     ADJUSTMENT_PITCH_I,
  47     ADJUSTMENT_PITCH_D,
  48     ADJUSTMENT_ROLL_P,
  49     ADJUSTMENT_ROLL_I,
  50     ADJUSTMENT_ROLL_D,
  51     ADJUSTMENT_RC_RATE_YAW,
  52     ADJUSTMENT_PITCH_ROLL_F,
  53     ADJUSTMENT_FEEDFORWARD_TRANSITION,
  54     ADJUSTMENT_HORIZON_STRENGTH,
  55     ADJUSTMENT_ROLL_RC_RATE,
  56     ADJUSTMENT_PITCH_RC_RATE,
  57     ADJUSTMENT_ROLL_RC_EXPO,
  58     ADJUSTMENT_PITCH_RC_EXPO,
  59     ADJUSTMENT_PID_AUDIO,
  60     ADJUSTMENT_PITCH_F,
  61     ADJUSTMENT_ROLL_F,
  62     ADJUSTMENT_YAW_F,
  63     ADJUSTMENT_OSD_PROFILE,
  64     ADJUSTMENT_LED_PROFILE,
  65     ADJUSTMENT_FUNCTION_COUNT
  66 } adjustmentFunction_e;
  67
  68 typedef enum {
  69     ADJUSTMENT_MODE_STEP,
  70     ADJUSTMENT_MODE_SELECT
  71 } adjustmentMode_e;
  72
  73 typedef union adjustmentConfig_u {
  74     uint8_t step;
  75     uint8_t switchPositions;
  76 } adjustmentData_t;
  77
  78 typedef struct adjustmentConfig_s {
  79     adjustmentFunction_e adjustmentFunction;
  80     adjustmentMode_e mode;
  81     adjustmentData_t data;
  82 } adjustmentConfig_t;
  83
  84 #define MAX_ADJUSTMENT_RANGE_COUNT 30
  85
  86 typedef struct adjustmentRange_s {
  87     // when aux channel is in range...
  88     uint8_t auxChannelIndex;
  89     channelRange_t range;
  90
  91     // ..then apply the adjustment function to the auxSwitchChannel ...
  92     uint8_t adjustmentConfig;
  93     uint8_t auxSwitchChannelIndex;
  94
  95     uint16_t adjustmentCenter;
  96     uint16_t adjustmentScale;
  97 } adjustmentRange_t;
  98
  99 PG_DECLARE_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges);
 100
 101 typedef struct timedAdjustmentState_s {
 102     uint32_t timeoutAt;
 103     uint8_t adjustmentRangeIndex;
 104     bool ready;
 105 } timedAdjustmentState_t;
 106
 107 typedef struct continuosAdjustmentState_s {
 108     uint8_t adjustmentRangeIndex;
 109     int16_t lastRcData;
 110 } continuosAdjustmentState_t;
 111
 112 struct controlRateConfig_s;
 113 void processRcAdjustments(struct controlRateConfig_s *controlRateConfig);
 114 const char *getAdjustmentsRangeName(void);
 115 int getAdjustmentsRangeValue(void);
 116 void activeAdjustmentRangeReset(void);