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59 lines
1.8 KiB
C
59 lines
1.8 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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typedef enum {
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SENSOR_INDEX_GYRO = 0,
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SENSOR_INDEX_ACC,
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SENSOR_INDEX_BARO,
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SENSOR_INDEX_MAG,
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SENSOR_INDEX_RANGEFINDER,
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SENSOR_INDEX_COUNT
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} sensorIndex_e;
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extern uint8_t requestedSensors[SENSOR_INDEX_COUNT];
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extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];
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typedef struct int16_flightDynamicsTrims_s {
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int16_t roll;
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int16_t pitch;
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int16_t yaw;
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} flightDynamicsTrims_def_t;
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typedef union flightDynamicsTrims_u {
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int16_t raw[3];
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flightDynamicsTrims_def_t values;
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} flightDynamicsTrims_t;
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#define CALIBRATING_GYRO_TIME_US 3000000
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#define CALIBRATING_ACC_CYCLES 400
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#define CALIBRATING_BARO_CYCLES 200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
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typedef enum {
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SENSOR_GYRO = 1 << 0, // always present
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SENSOR_ACC = 1 << 1,
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SENSOR_BARO = 1 << 2,
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SENSOR_MAG = 1 << 3,
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SENSOR_SONAR = 1 << 4,
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SENSOR_RANGEFINDER = 1 << 4,
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SENSOR_GPS = 1 << 5,
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SENSOR_GPSMAG = 1 << 6
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} sensors_e;
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