src/main/fc/controlrate_profile.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 #include <stdint.h>
  21
  22 #include "config/parameter_group.h"
  23
  24 #define MAX_CONTROL_RATE_PROFILE_COUNT 3
  25 /*
  26 Max and min available values for rates are now stored as absolute
  27 tenths of degrees-per-second [dsp/10]
  28 That means, max. rotation rate 180 equals 1800dps
  29
  30 New defaults of 200dps for pitch,roll and yaw are more less
  31 equivalent of rates 0 from previous versions of iNav, Cleanflight, Baseflight
  32 and so on.
  33 */
  34 #define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX  180
  35 #define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN  6
  36 #define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT  20
  37 #define CONTROL_RATE_CONFIG_YAW_RATE_MAX         180
  38 #define CONTROL_RATE_CONFIG_YAW_RATE_MIN         2
  39 #define CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT     20
  40
  41 #define CONTROL_RATE_CONFIG_TPA_MAX              100
  42
  43 typedef struct controlRateConfig_s {
  44
  45     struct {
  46         uint8_t rcMid8;
  47         uint8_t rcExpo8;
  48         uint8_t dynPID;
  49         uint16_t pa_breakpoint;                // Breakpoint where TPA is activated
  50         uint16_t fixedWingTauMs;               // Time constant of airplane TPA PT1-filter
  51     } throttle;
  52
  53     struct {
  54         uint8_t rcExpo8;
  55         uint8_t rcYawExpo8;
  56         uint8_t rates[3];
  57     } stabilized;
  58
  59     struct {
  60         uint8_t rcExpo8;
  61         uint8_t rcYawExpo8;
  62         uint8_t rates[3];
  63     } manual;
  64
  65     struct {
  66         uint8_t fpvCamAngleDegrees;             // Camera angle to treat as "forward" base axis in ACRO (Roll and Yaw sticks will command rotation considering this axis)
  67     } misc;
  68
  69 } controlRateConfig_t;
  70
  71 PG_DECLARE_ARRAY(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
  72
  73 extern const controlRateConfig_t *currentControlRateProfile;
  74
  75 void setControlRateProfile(uint8_t profileIndex);
  76 void changeControlRateProfile(uint8_t profileIndex);
  77 void activateControlRateConfig(void);
  78 uint8_t getCurrentControlRateProfile(void);