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merged in mwii2.3 generic servo handler. completely untested.

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@434 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-10-12 07:03:01 +00:00
parent 37b73a057b
commit 9ebd82c5ef
7 changed files with 83 additions and 119 deletions
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39
src/mw.h
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@ -4,11 +4,13 @@
#define VBATFREQ 6 // to read battery voltage - nth number of loop iterations
#define BARO_TAB_SIZE_MAX 48
#define VERSION 220
#define VERSION 230
#define LAT 0
#define LON 1
#define RC_CHANS (18)
// Serial GPS only variables
// navigation mode
typedef enum NavigationMode
@ -44,10 +46,8 @@ typedef enum MultiType
typedef enum GimbalFlags {
GIMBAL_NORMAL = 1 << 0,
GIMBAL_TILTONLY = 1 << 1,
GIMBAL_DISABLEAUX34 = 1 << 2,
GIMBAL_FORWARDAUX = 1 << 3,
GIMBAL_MIXTILT = 1 << 4,
GIMBAL_MIXTILT = 1 << 1,
GIMBAL_FORWARDAUX = 1 << 2,
} GimbalFlags;
/*********** RC alias *****************/
@ -194,33 +194,9 @@ typedef struct config_t {
// mixer-related configuration
int8_t yaw_direction;
uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed
uint16_t tri_yaw_middle; // tail servo center pos. - use this for initial trim
uint16_t tri_yaw_min; // tail servo min
uint16_t tri_yaw_max; // tail servo max
// flying wing related configuration
uint16_t wing_left_min; // min/mid/max servo travel
uint16_t wing_left_mid;
uint16_t wing_left_max;
uint16_t wing_right_min;
uint16_t wing_right_mid;
uint16_t wing_right_max;
int8_t pitch_direction_l; // left servo - pitch orientation
int8_t pitch_direction_r; // right servo - pitch orientation (opposite sign to pitch_direction_l if servos are mounted mirrored)
int8_t roll_direction_l; // left servo - roll orientation
int8_t roll_direction_r; // right servo - roll orientation (same sign as ROLL_DIRECTION_L, if servos are mounted in mirrored orientation)
// gimbal-related configuration
int8_t gimbal_pitch_gain; // gimbal pitch servo gain (tied to angle) can be negative to invert movement
int8_t gimbal_roll_gain; // gimbal roll servo gain (tied to angle) can be negative to invert movement
uint8_t gimbal_flags; // in servotilt mode, various things that affect stuff
uint16_t gimbal_pitch_min; // gimbal pitch servo min travel
uint16_t gimbal_pitch_max; // gimbal pitch servo max travel
uint16_t gimbal_pitch_mid; // gimbal pitch servo neutral value
uint16_t gimbal_roll_min; // gimbal roll servo min travel
uint16_t gimbal_roll_max; // gimbal roll servo max travel
uint16_t gimbal_roll_mid; // gimbal roll servo neutral value
// gps-related stuff
uint16_t gps_wp_radius; // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
@ -305,6 +281,7 @@ typedef struct core_t {
serialPort_t *telemport;
serialPort_t *rcvrport;
bool useServo;
uint8_t numRCChannels;
} core_t;
@ -362,8 +339,8 @@ extern int16_t throttleAngleCorrection;
extern int16_t headFreeModeHold;
extern int16_t heading, magHold;
extern int16_t motor[MAX_MOTORS];
extern int16_t servo[8];
extern int16_t rcData[8];
extern int16_t servo[MAX_SERVOS];
extern int16_t rcData[RC_CHANS];
extern uint16_t rssi; // range: [0;1023]
extern uint8_t vbat;
extern int16_t telemTemperature1; // gyro sensor temperature