mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-19 14:25:20 +03:00
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
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15 changed files with 3042 additions and 2698 deletions
27
src/mw.h
27
src/mw.h
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@ -30,14 +30,15 @@ typedef enum MultiType
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MULTITYPE_FLYING_WING = 8, // UNSUPPORTED, do not select!
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MULTITYPE_Y4 = 9,
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MULTITYPE_HEX6X = 10,
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MULTITYPE_OCTOX8 = 11,
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MULTITYPE_OCTOFLATP = 12, // the GUI is the same for all 8 motor configs
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MULTITYPE_OCTOFLATX = 13, // the GUI is the same for all 8 motor configs
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MULTITYPE_AIRPLANE = 14,
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MULTITYPE_HELI_120_CCPM = 15, // simple model
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MULTITYPE_HELI_90_DEG = 16, // simple model
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MULTITYPE_OCTOX8 = 11, // Java GUI is same for the next 3 configs
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MULTITYPE_OCTOFLATP = 12, // MultiWinGui shows this differently
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MULTITYPE_OCTOFLATX = 13, // MultiWinGui shows this differently
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MULTITYPE_AIRPLANE = 14, // airplane / singlecopter / dualcopter
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MULTITYPE_HELI_120_CCPM = 15,
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MULTITYPE_HELI_90_DEG = 16,
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MULTITYPE_VTAIL4 = 17,
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MULTITYPE_LAST = 18
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MULTITYPE_CUSTOM = 18, // no current GUI displays this
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MULTITYPE_LAST = 19
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} MultiType;
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typedef enum GimbalFlags {
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@ -148,6 +149,8 @@ typedef struct config_t {
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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
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uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
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uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
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int16_t servotrim[8]; // Adjust Servo MID Offset & Swash angles
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int8_t servoreverse[8]; // Invert servos by setting -1
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// mixer-related configuration
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int8_t yaw_direction;
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@ -215,17 +218,16 @@ extern uint16_t calibratingA;
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extern uint16_t calibratingG;
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extern int16_t heading;
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extern int16_t annex650_overrun_count;
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extern int32_t pressure;
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extern int32_t BaroAlt;
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extern int16_t sonarAlt;
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extern int32_t EstAlt;
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extern int32_t AltHold;
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extern int16_t errorAltitudeI;
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extern int16_t BaroPID;
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extern int32_t AltHold;
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extern int16_t errorAltitudeI;
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extern int16_t BaroPID;
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extern int16_t headFreeModeHold;
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extern int16_t zVelocity;
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extern int16_t heading, magHold;
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extern int16_t motor[8];
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extern int16_t motor[MAX_MOTORS];
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extern int16_t servo[8];
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extern int16_t rcData[8];
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extern uint8_t vbat;
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@ -255,6 +257,7 @@ extern config_t cfg;
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extern flags_t f;
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extern sensor_t acc;
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extern sensor_t gyro;
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extern baro_t baro;
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// main
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void loop(void);
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