src/main/flight/gps_rescue.h

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Betaflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "common/axis.h"
  21
  22 #include "pg/pg.h"
  23
  24 #define TASK_GPS_RESCUE_RATE_HZ 100 // synced to altitude task rate
  25
  26 typedef struct gpsRescue_s {
  27     uint16_t angle; // degrees
  28     uint16_t initialAltitudeM; // meters
  29     uint16_t descentDistanceM; // meters
  30     uint16_t rescueGroundspeed; // centimeters per second
  31     uint8_t throttleP, throttleI, throttleD;
  32     uint8_t yawP;
  33     uint16_t throttleMin;
  34     uint16_t throttleMax;
  35     uint16_t throttleHover;
  36     uint8_t minSats;
  37     uint8_t velP, velI, velD;
  38     uint16_t minRescueDth; // meters
  39     uint8_t sanityChecks;
  40     uint8_t allowArmingWithoutFix;
  41     uint8_t useMag;
  42     uint8_t targetLandingAltitudeM; // meters
  43     uint8_t altitudeMode;
  44     uint16_t ascendRate;
  45     uint16_t descendRate;
  46     uint16_t rescueAltitudeBufferM; // meters
  47     uint8_t rollMix;
  48 } gpsRescueConfig_t;
  49
  50 PG_DECLARE(gpsRescueConfig_t, gpsRescueConfig);
  51
  52 extern float gpsRescueAngle[ANGLE_INDEX_COUNT]; // NOTE: ANGLES ARE IN CENTIDEGREES
  53
  54 void gpsRescueInit(void);
  55 void gpsRescueUpdate(void);
  56 void gpsRescueNewGpsData(void);
  57
  58 float gpsRescueGetYawRate(void);
  59 float gpsRescueGetThrottle(void);
  60 bool gpsRescueIsConfigured(void);
  61 bool gpsRescueIsAvailable(void);
  62 bool gpsRescueIsDisabled(void);
  63 bool gpsRescueDisableMag(void);