src/main/flight/position.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 "common/time.h"
  24
  25 #define TASK_ALTITUDE_RATE_HZ 100
  26
  27 typedef struct positionConfig_s {
  28     uint8_t altitude_source;
  29     uint8_t altitude_prefer_baro;
  30     uint16_t altitude_lpf;                // lowpass cutoff (value / 100) Hz for altitude smoothing
  31     uint16_t altitude_d_lpf;              // lowpass for (value / 100) Hz for altitude derivative smoothing
  32 } positionConfig_t;
  33
  34 PG_DECLARE(positionConfig_t, positionConfig);
  35
  36 float getAltitudeCm(void);
  37 float getAltitudeDerivative(void);
  38 void calculateEstimatedAltitude(void);
  39 void positionInit(void);
  40 int32_t getEstimatedAltitudeCm(void);
  41 float getAltitudeAsl(void);
  42 int16_t getEstimatedVario(void);
  43 bool isAltitudeAvailable(void);
  44