src/main/pg/autopilot_multirotor.h

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software. You can redistribute this software
   5  * and/or modify this software under the terms of the GNU General
   6  * Public License as published by the Free Software Foundation,
   7  * either version 3 of the License, or (at your option) any later
   8  * version.
   9  *
  10  * Betaflight is distributed in the hope that it will be useful,
  11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  *
  14  * See the GNU General Public License for more details.
  15  *
  16  * You should have received a copy of the GNU General Public
  17  * License along with this software.
  18  *
  19  * If not, see <http://www.gnu.org/licenses/>.
  20  */
  21
  22 #pragma once
  23
  24 #ifndef USE_WING
  25
  26 #include <stdint.h>
  27
  28 #include "pg/pg.h"
  29
  30 typedef struct apConfig_s {
  31     uint8_t landing_altitude_m;   // altitude below which landing behaviours can change, metres
  32     uint16_t hover_throttle;      // value used at the start of a rescue or position hold
  33     uint16_t throttle_min;
  34     uint16_t throttle_max;
  35     uint8_t altitude_P;
  36     uint8_t altitude_I;
  37     uint8_t altitude_D;
  38     uint8_t altitude_F;
  39     uint8_t position_P;
  40     uint8_t position_I;
  41     uint8_t position_D;
  42     uint8_t position_A;
  43     uint8_t position_cutoff;
  44     uint8_t max_angle;
  45 } apConfig_t;
  46
  47 PG_DECLARE(apConfig_t, apConfig);
  48
  49 #endif // !USE_WING