mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 08:45:36 +03:00
51 lines
No EOL
1.7 KiB
C
51 lines
No EOL
1.7 KiB
C
/*
|
|
* This file is part of Cleanflight.
|
|
*
|
|
* Cleanflight is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* Cleanflight is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "common/time.h"
|
|
#include "config/parameter_group.h"
|
|
|
|
#if defined(GPS) || defined(MAG)
|
|
extern int16_t magHold;
|
|
#endif
|
|
|
|
extern bool isRXDataNew;
|
|
extern int16_t headFreeModeHold;
|
|
|
|
extern uint8_t motorControlEnable;
|
|
|
|
typedef struct throttleCorrectionConfig_s {
|
|
uint16_t throttle_correction_angle; // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
|
|
uint8_t throttle_correction_value; // the correction that will be applied at throttle_correction_angle.
|
|
} throttleCorrectionConfig_t;
|
|
|
|
PG_DECLARE(throttleCorrectionConfig_t, throttleCorrectionConfig);
|
|
|
|
union rollAndPitchTrims_u;
|
|
void applyAndSaveAccelerometerTrimsDelta(union rollAndPitchTrims_u *rollAndPitchTrimsDelta);
|
|
void handleInflightCalibrationStickPosition();
|
|
|
|
void mwDisarm(void);
|
|
void mwArm(void);
|
|
|
|
void processRx(timeUs_t currentTimeUs);
|
|
void updateLEDs(void);
|
|
void updateRcCommands(void);
|
|
|
|
void taskMainPidLoop(timeUs_t currentTimeUs);
|
|
bool isMotorsReversed(void); |