src/main/flight/autopilot_multirotor.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 #ifndef USE_WING
  21
  22 #include "io/gps.h"
  23
  24 extern float autopilotAngle[RP_AXIS_COUNT]; // NOTE: ANGLES ARE IN CENTIDEGREES
  25
  26 void autopilotInit(void);
  27 void resetAltitudeControl(void);
  28 void setSticksActiveStatus(bool areSticksActive);
  29 void resetPositionControl(const gpsLocation_t *initialTargetLocation, unsigned taskRateHz);
  30 void posControlOutput(void);
  31 bool positionControl(void);
  32 void altitudeControl(float targetAltitudeCm, float taskIntervalS, float targetAltitudeStep);
  33
  34 bool isBelowLandingAltitude(void);
  35 float getAutopilotThrottle(void);
  36 bool isAutopilotInControl(void);
  37
  38 #endif // !USE_WING