src/main/pg/gps_rescue.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 <stdint.h>
  24
  25 #include "pg/pg.h"
  26
  27 typedef struct gpsRescue_s {
  28
  29     uint16_t maxRescueAngle; // degrees
  30     uint16_t initialAltitudeM; // meters
  31     uint16_t descentDistanceM; // meters
  32     uint16_t rescueGroundspeed; // centimeters per second
  33     uint8_t  throttleP, throttleI, throttleD;
  34     uint8_t  yawP;
  35     uint16_t throttleMin;
  36     uint16_t throttleMax;
  37     uint16_t throttleHover;
  38     uint8_t  minSats;
  39     uint8_t  velP, velI, velD;
  40     uint16_t minRescueDth; // meters
  41     uint8_t  sanityChecks;
  42     uint8_t  allowArmingWithoutFix;
  43     uint8_t  useMag;
  44     uint8_t  targetLandingAltitudeM; // meters
  45     uint8_t  altitudeMode;
  46     uint16_t ascendRate;
  47     uint16_t descendRate;
  48     uint16_t rescueAltitudeBufferM; // meters
  49     uint8_t  rollMix;
  50     uint8_t  disarmThreshold;
  51     uint8_t  pitchCutoffHz;
  52
  53 } gpsRescueConfig_t;
  54
  55 PG_DECLARE(gpsRescueConfig_t, gpsRescueConfig);