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cleaned up bmp085 driver

added ms5611 driver
refactored pressure sensor subsystem to allow multiple sensors
couple changes in PWM driver to make motor/servo arrangement for airplane mode more intuitive
moved MAX_MOTORS/MAX_SERVOS etc into drv_pwm.h
staring to merge back in airplane/flyingwing mixes
fix for tri servo display - mwc moved it to servo[5] again, gui was broken, function not.
will probably implement custom mixer soon (motors only, no servos)


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@198 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-08-20 10:25:10 +00:00
parent ee76242525
commit e6cb4a0b1c
15 changed files with 3042 additions and 2698 deletions

View file

@ -30,14 +30,15 @@ typedef enum MultiType
MULTITYPE_FLYING_WING = 8, // UNSUPPORTED, do not select!
MULTITYPE_Y4 = 9,
MULTITYPE_HEX6X = 10,
MULTITYPE_OCTOX8 = 11,
MULTITYPE_OCTOFLATP = 12, // the GUI is the same for all 8 motor configs
MULTITYPE_OCTOFLATX = 13, // the GUI is the same for all 8 motor configs
MULTITYPE_AIRPLANE = 14,
MULTITYPE_HELI_120_CCPM = 15, // simple model
MULTITYPE_HELI_90_DEG = 16, // simple model
MULTITYPE_OCTOX8 = 11, // Java GUI is same for the next 3 configs
MULTITYPE_OCTOFLATP = 12, // MultiWinGui shows this differently
MULTITYPE_OCTOFLATX = 13, // MultiWinGui shows this differently
MULTITYPE_AIRPLANE = 14, // airplane / singlecopter / dualcopter
MULTITYPE_HELI_120_CCPM = 15,
MULTITYPE_HELI_90_DEG = 16,
MULTITYPE_VTAIL4 = 17,
MULTITYPE_LAST = 18
MULTITYPE_CUSTOM = 18, // no current GUI displays this
MULTITYPE_LAST = 19
} MultiType;
typedef enum GimbalFlags {
@ -148,6 +149,8 @@ typedef struct config_t {
uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
int16_t servotrim[8]; // Adjust Servo MID Offset & Swash angles
int8_t servoreverse[8]; // Invert servos by setting -1
// mixer-related configuration
int8_t yaw_direction;
@ -215,17 +218,16 @@ extern uint16_t calibratingA;
extern uint16_t calibratingG;
extern int16_t heading;
extern int16_t annex650_overrun_count;
extern int32_t pressure;
extern int32_t BaroAlt;
extern int16_t sonarAlt;
extern int32_t EstAlt;
extern int32_t AltHold;
extern int16_t errorAltitudeI;
extern int16_t BaroPID;
extern int32_t AltHold;
extern int16_t errorAltitudeI;
extern int16_t BaroPID;
extern int16_t headFreeModeHold;
extern int16_t zVelocity;
extern int16_t heading, magHold;
extern int16_t motor[8];
extern int16_t motor[MAX_MOTORS];
extern int16_t servo[8];
extern int16_t rcData[8];
extern uint8_t vbat;
@ -255,6 +257,7 @@ extern config_t cfg;
extern flags_t f;
extern sensor_t acc;
extern sensor_t gyro;
extern baro_t baro;
// main
void loop(void);