src/main/fc/controlrate_profile_config_struct.h

   1 /*
   2  * This file is part of INAV
   3  *
   4  * INAV 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  * INAV distributed in the hope that it
  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 <stdbool.h>
  24 #include <stdint.h>
  25
  26 typedef struct controlRateConfig_s {
  27
  28     struct {
  29         uint8_t rcMid8;
  30         uint8_t rcExpo8;
  31         uint8_t dynPID;
  32         bool dynPID_on_YAW;
  33         uint16_t pa_breakpoint;                // Breakpoint where TPA is activated
  34         uint16_t fixedWingTauMs;               // Time constant of airplane TPA PT1-filter
  35     } throttle;
  36
  37     struct {
  38         uint8_t rcExpo8;
  39         uint8_t rcYawExpo8;
  40         uint8_t rates[3];
  41     } stabilized;
  42
  43     struct {
  44         uint8_t rcExpo8;
  45         uint8_t rcYawExpo8;
  46         uint8_t rates[3];
  47     } manual;
  48
  49     struct {
  50         uint8_t fpvCamAngleDegrees;             // Camera angle to treat as "forward" base axis in ACRO (Roll and Yaw sticks will command rotation considering this axis)
  51     } misc;
  52
  53 #ifdef USE_RATE_DYNAMICS
  54     struct {
  55         uint8_t sensitivityCenter;
  56         uint8_t sensitivityEnd;
  57         uint8_t correctionCenter;
  58         uint8_t correctionEnd;
  59         uint8_t weightCenter;
  60         uint8_t weightEnd;
  61     } rateDynamics;
  62 #endif
  63
  64 } controlRateConfig_t;