src/main/flight/gps_rescue_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 <stdbool.h>
  23
  24 #include "common/axis.h"
  25
  26 #include "pg/gps_rescue.h"
  27
  28 #define TASK_GPS_RESCUE_RATE_HZ 100  // in sync with altitude task rate
  29
  30 #ifdef USE_MAG
  31 #define GPS_RESCUE_USE_MAG  true
  32 #else
  33 #define GPS_RESCUE_USE_MAG  false
  34 #endif
  35
  36 typedef enum {
  37     RESCUE_SANITY_OFF = 0,
  38     RESCUE_SANITY_ON,
  39     RESCUE_SANITY_FS_ONLY,
  40     RESCUE_SANITY_COUNT
  41 } gpsRescueSanity_e;
  42
  43 typedef enum {
  44     GPS_RESCUE_ALT_MODE_MAX = 0,
  45     GPS_RESCUE_ALT_MODE_FIXED,
  46     GPS_RESCUE_ALT_MODE_CURRENT,
  47     GPS_RESCUE_ALT_MODE_COUNT
  48 } gpsRescueAltitudeMode_e;
  49
  50 extern float gpsRescueAngle[RP_AXIS_COUNT]; // NOTE: ANGLES ARE IN CENTIDEGREES
  51
  52 void gpsRescueInit(void);
  53 void gpsRescueUpdate(void);
  54 float gpsRescueGetYawRate(void);
  55 bool gpsRescueIsConfigured(void);
  56 bool gpsRescueIsAvailable(void);
  57 bool gpsRescueIsDisabled(void);
  58 bool gpsRescueDisableMag(void);
  59 float gpsRescueGetImuYawCogGain(void);
  60
  61 #endif // !USE_WING