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Preparation for conversion to parameter groups

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This commit is contained in:
Martin Budden 2017-01-24 19:42:29 +00:00
parent 6f872ba899
commit 79d4b2146d
90 changed files with 1150 additions and 507 deletions
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22
src/main/fc/rc_controls.h
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@ -19,6 +19,8 @@
#include <stdbool.h>
#include "config/parameter_group.h"
typedef enum {
BOXARM = 0,
BOXANGLE,
@ -140,6 +142,8 @@ typedef struct modeActivationCondition_s {
channelRange_t range;
} modeActivationCondition_t;
PG_DECLARE_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions);
typedef struct modeActivationProfile_s {
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
} modeActivationProfile_t;
@ -158,6 +162,8 @@ typedef struct controlRateConfig_s {
uint16_t tpa_breakpoint; // Breakpoint where TPA is activated
} controlRateConfig_t;
//!!TODO PG_DECLARE_ARRAY(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
extern int16_t rcCommand[4];
extern int16_t rcCommandSmooth[4];
@ -169,18 +175,22 @@ typedef struct rcControlsConfig_s {
int8_t yaw_control_direction; // change control direction of yaw (inverted, normal)
} rcControlsConfig_t;
PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
typedef struct armingConfig_s {
uint8_t gyro_cal_on_first_arm; // allow disarm/arm on throttle down + roll left/right
uint8_t disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value
uint8_t auto_disarm_delay; // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
} armingConfig_t;
PG_DECLARE(armingConfig_t, armingConfig);
bool areUsingSticksToArm(void);
bool areSticksInApModePosition(uint16_t ap_mode);
struct rxConfig_s;
throttleStatus_e calculateThrottleStatus(struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
void processRcStickPositions(struct rxConfig_s *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
throttleStatus_e calculateThrottleStatus(const struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
void processRcStickPositions(const struct rxConfig_s *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
@ -267,6 +277,8 @@ typedef struct adjustmentState_s {
#define MAX_ADJUSTMENT_RANGE_COUNT 15
PG_DECLARE_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges);
typedef struct adjustmentProfile_s {
adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
} adjustmentProfile_t;
@ -274,12 +286,12 @@ typedef struct adjustmentProfile_s {
bool isAirmodeActive(void);
void resetAdjustmentStates(void);
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
void processRcAdjustments(controlRateConfig_t *controlRateConfig, struct rxConfig_s *rxConfig);
void processRcAdjustments(controlRateConfig_t *controlRateConfig, const struct rxConfig_s *rxConfig);
bool isUsingSticksForArming(void);
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationConditions, boxId_e modeId);
bool isModeActivationConditionPresent(const modeActivationCondition_t *modeActivationConditions, boxId_e modeId);
struct pidProfile_s;
struct motorConfig_s;
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, struct motorConfig_s *motorConfigToUse, struct pidProfile_s *pidProfileToUse);
void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, const struct motorConfig_s *motorConfigToUse, struct pidProfile_s *pidProfileToUse);