src/main/sensors/sensors.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight 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  * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 typedef enum {
  21     SENSOR_INDEX_GYRO = 0,
  22     SENSOR_INDEX_ACC,
  23     SENSOR_INDEX_BARO,
  24     SENSOR_INDEX_MAG,
  25     SENSOR_INDEX_RANGEFINDER,
  26     SENSOR_INDEX_PITOT,
  27     SENSOR_INDEX_OPFLOW,
  28     SENSOR_INDEX_COUNT
  29 } sensorIndex_e;
  30
  31 typedef struct int16_flightDynamicsTrims_s {
  32     int16_t roll;
  33     int16_t pitch;
  34     int16_t yaw;
  35 } flightDynamicsTrims_def_t;
  36
  37 typedef union flightDynamicsTrims_u {
  38     int16_t raw[3];
  39     flightDynamicsTrims_def_t values;
  40 } flightDynamicsTrims_t;
  41
  42 #define CALIBRATING_BARO_TIME_MS            2000
  43 #define CALIBRATING_PITOT_TIME_MS           4000
  44 #define CALIBRATING_GYRO_TIME_MS            2000
  45 #define CALIBRATING_ACC_TIME_MS             500
  46 #define CALIBRATING_GYRO_MORON_THRESHOLD    32
  47
  48 // These bits have to be aligned with sensorIndex_e
  49 typedef enum {
  50     SENSOR_GYRO = 1 << 0, // always present
  51     SENSOR_ACC = 1 << 1,
  52     SENSOR_BARO = 1 << 2,
  53     SENSOR_MAG = 1 << 3,
  54     SENSOR_RANGEFINDER = 1 << 4,
  55     SENSOR_PITOT = 1 << 5,
  56     SENSOR_OPFLOW = 1 << 6,
  57     SENSOR_GPS = 1 << 7,
  58     SENSOR_GPSMAG = 1 << 8,
  59     SENSOR_TEMP = 1 << 9
  60 } sensors_e;
  61
  62 extern uint8_t requestedSensors[SENSOR_INDEX_COUNT];
  63 extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];