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betaflight/src/mw.h

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#pragma once
/* for VBAT monitoring frequency */
#define VBATFREQ 6 // to read battery voltage - nth number of loop iterations
#define BARO_TAB_SIZE_MAX 48
#define VERSION 230
#define LAT 0
#define LON 1
#define RC_CHANS (18)
// Serial GPS only variables
// navigation mode
typedef enum NavigationMode
{
NAV_MODE_NONE = 0,
NAV_MODE_POSHOLD,
NAV_MODE_WP
} NavigationMode;
// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
typedef enum MultiType
{
MULTITYPE_TRI = 1,
MULTITYPE_QUADP = 2,
MULTITYPE_QUADX = 3,
MULTITYPE_BI = 4,
MULTITYPE_GIMBAL = 5,
MULTITYPE_Y6 = 6,
MULTITYPE_HEX6 = 7,
MULTITYPE_FLYING_WING = 8,
MULTITYPE_Y4 = 9,
MULTITYPE_HEX6X = 10,
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 (not yet properly supported)
MULTITYPE_HELI_120_CCPM = 15,
MULTITYPE_HELI_90_DEG = 16,
MULTITYPE_VTAIL4 = 17,
MULTITYPE_HEX6H = 18,
MULTITYPE_PPM_TO_SERVO = 19, // PPM -> servo relay
MULTITYPE_DUALCOPTER = 20,
MULTITYPE_SINGLECOPTER = 21,
MULTITYPE_CUSTOM = 22, // no current GUI displays this
MULTITYPE_LAST = 23
} MultiType;
typedef enum GimbalFlags {
GIMBAL_NORMAL = 1 << 0,
GIMBAL_MIXTILT = 1 << 1,
GIMBAL_FORWARDAUX = 1 << 2,
} GimbalFlags;
/*********** RC alias *****************/
enum {
ROLL = 0,
PITCH,
YAW,
THROTTLE,
AUX1,
AUX2,
AUX3,
AUX4
};
enum {
PIDROLL,
PIDPITCH,
PIDYAW,
PIDALT,
PIDPOS,
PIDPOSR,
PIDNAVR,
PIDLEVEL,
PIDMAG,
PIDVEL,
PIDITEMS
};
enum {
BOXARM = 0,
BOXANGLE,
BOXHORIZON,
BOXBARO,
BOXVARIO,
BOXMAG,
BOXHEADFREE,
BOXHEADADJ,
BOXCAMSTAB,
BOXCAMTRIG,
BOXGPSHOME,
BOXGPSHOLD,
BOXPASSTHRU,
BOXBEEPERON,
BOXLEDMAX,
BOXLEDLOW,
BOXLLIGHTS,
BOXCALIB,
BOXGOV,
BOXOSD,
BOXTELEMETRY,
CHECKBOXITEMS
};
#define ROL_LO (1 << (2 * ROLL))
#define ROL_CE (3 << (2 * ROLL))
#define ROL_HI (2 << (2 * ROLL))
#define PIT_LO (1 << (2 * PITCH))
#define PIT_CE (3 << (2 * PITCH))
#define PIT_HI (2 << (2 * PITCH))
#define YAW_LO (1 << (2 * YAW))
#define YAW_CE (3 << (2 * YAW))
#define YAW_HI (2 << (2 * YAW))
#define THR_LO (1 << (2 * THROTTLE))
#define THR_CE (3 << (2 * THROTTLE))
#define THR_HI (2 << (2 * THROTTLE))
// Custom mixer data per motor
typedef struct motorMixer_t {
float throttle;
float roll;
float pitch;
float yaw;
} motorMixer_t;
// Custom mixer configuration
typedef struct mixer_t {
uint8_t numberMotor;
uint8_t useServo;
const motorMixer_t *motor;
} mixer_t;
typedef struct servoParam_t {
int16_t min; // servo min
int16_t max; // servo max
int16_t middle; // servo middle
int8_t rate; // range [-100;+100] ; can be used to ajust a rate 0-100% and a direction
} servoParam_t;
enum {
ALIGN_GYRO = 0,
ALIGN_ACCEL = 1,
ALIGN_MAG = 2
};
#define CALIBRATING_GYRO_CYCLES 1000
#define CALIBRATING_ACC_CYCLES 400
#define CALIBRATING_BARO_CYCLES 200
typedef struct config_t {
uint8_t pidController; // 0 = multiwii original, 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671
uint8_t P8[PIDITEMS];
uint8_t I8[PIDITEMS];
uint8_t D8[PIDITEMS];
uint8_t rcRate8;
uint8_t rcExpo8;
uint8_t thrMid8;
uint8_t thrExpo8;
uint8_t rollPitchRate;
uint8_t yawRate;
uint8_t dynThrPID;
uint16_t tpaBreakPoint; // Breakpoint where TPA is activated
int16_t mag_declination; // Get your magnetic decliniation from here : http://magnetic-declination.com/
int16_t angleTrim[2]; // accelerometer trim
// sensor-related stuff
uint8_t acc_lpf_factor; // Set the Low Pass Filter factor for ACC. Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter
uint8_t accz_deadband; // set the acc deadband for z-Axis, this ignores small accelerations
uint8_t accxy_deadband; // set the acc deadband for xy-Axis
uint8_t baro_tab_size; // size of baro filter array
float baro_noise_lpf; // additional LPF to reduce baro noise
float baro_cf_vel; // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity)
float baro_cf_alt; // apply CF to use ACC for height estimation
uint8_t acc_unarmedcal; // turn automatic acc compensation on/off
uint16_t activate[CHECKBOXITEMS]; // activate switches
// Radio/ESC-related configuration
uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
uint8_t yawdeadband; // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
uint8_t alt_hold_throttle_neutral; // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
uint8_t alt_hold_fast_change; // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_throttle_neutral; when enabled, altitude changes slowly proportional to stick movement
uint8_t throttle_angle_correction; //
// Servo-related stuff
servoParam_t servoConf[8]; // servo configuration
// Failsafe related configuration
uint8_t failsafe_delay; // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
uint8_t failsafe_off_delay; // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example (200)
uint16_t failsafe_throttle; // Throttle level used for landing - specify value between 1000..2000 (pwm pulse width for slightly below hover). center throttle = 1500.
uint16_t failsafe_detect_threshold; // Update controls channel only if pulse is above failsafe_detect_threshold. below this trigger failsafe.
// mixer-related configuration
int8_t yaw_direction;
uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed
// gimbal-related configuration
uint8_t gimbal_flags; // in servotilt mode, various things that affect stuff
// 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)
uint8_t gps_lpf; // Low pass filter cut frequency for derivative calculation (default 20Hz)
uint8_t nav_slew_rate; // Adds a rate control to nav output, will smoothen out nav angle spikes
uint8_t nav_controls_heading; // copter faces toward the navigation point, maghold must be enabled for it
uint16_t nav_speed_min; // cm/sec
uint16_t nav_speed_max; // cm/sec
uint16_t ap_mode; // Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks, creating a deadspan for GPS
} config_t;
// System-wide
typedef struct master_t {
uint8_t version;
uint16_t size;
uint8_t magic_be; // magic number, should be 0xBE
uint8_t mixerConfiguration;
uint32_t enabledFeatures;
uint16_t looptime; // imu loop time in us
motorMixer_t customMixer[MAX_MOTORS]; // custom mixtable
// motor/esc/servo related stuff
uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000
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 deadband3d_low; // min 3d value
uint16_t deadband3d_high; // max 3d value
uint16_t neutral3d; // center 3d value
uint16_t deadband3d_throttle; // default throttle deadband from MIDRC
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)
// global sensor-related stuff
sensor_align_e gyro_align; // gyro alignment
sensor_align_e acc_align; // acc alignment
sensor_align_e mag_align; // mag alignment
int16_t board_align_roll; // board alignment correction in roll (deg)
int16_t board_align_pitch; // board alignment correction in pitch (deg)
int16_t board_align_yaw; // board alignment correction in yaw (deg)
int8_t yaw_control_direction; // change control direction of yaw (inverted, normal)
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
uint16_t gyro_cmpf_factor; // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.
uint16_t gyro_cmpfm_factor; // Set the Gyro Weight for Gyro/Magnetometer complementary filter. Increasing this value would reduce and delay Magnetometer influence on the output of the filter
uint8_t moron_threshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees).
int16_t accZero[3];
int16_t magZero[3];
// Battery/ADC stuff
uint8_t vbatscale; // adjust this to match battery voltage to reported value
uint8_t vbatmaxcellvoltage; // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
uint8_t vbatmincellvoltage; // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
uint8_t power_adc_channel; // which channel is used for current sensor. Right now, only 2 places are supported: RC_CH2 (unused when in CPPM mode, = 1), RC_CH8 (last channel in PWM mode, = 9)
// Radio/ESC-related configuration
uint8_t rcmap[8]; // mapping of radio channels to internal RPYTA+ order
uint8_t serialrx_type; // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_SERIALRX first.
uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
uint16_t mincheck; // minimum rc end
uint16_t maxcheck; // maximum rc end
uint8_t retarded_arm; // allow disarsm/arm on throttle down + roll left/right
uint8_t flaps_speed; // airplane mode flaps, 0 = no flaps, > 0 = flap speed, larger = faster
int8_t fixedwing_althold_dir; // +1 or -1 for pitch/althold gain. later check if need more than just sign
uint8_t rssi_aux_channel; // Read rssi from channel. 1+ = AUX1+, 0 to disable.
// gps-related stuff
uint8_t gps_type; // See GPSHardware enum.
int8_t gps_baudrate; // See GPSBaudRates enum.
uint32_t serial_baudrate;
uint32_t softserial_baudrate; // shared by both soft serial ports
uint8_t softserial_1_inverted; // use inverted softserial input and output signals on port 1
uint8_t softserial_2_inverted; // use inverted softserial input and output signals on port 2
uint8_t telemetry_provider; // See TelemetryProvider enum.
uint8_t telemetry_port; // See TelemetryPort enum.
uint8_t telemetry_switch; // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed.
config_t profile[3]; // 3 separate profiles
uint8_t current_profile; // currently loaded profile
uint8_t reboot_character; // which byte is used to reboot. Default 'R', could be changed carefully to something else.
uint8_t magic_ef; // magic number, should be 0xEF
uint8_t chk; // XOR checksum
} master_t;
// Core runtime settings
typedef struct core_t {
serialPort_t *mainport;
serialPort_t *gpsport;
serialPort_t *telemport;
serialPort_t *rcvrport;
uint8_t mpu6050_scale; // es/non-es variance between MPU6050 sensors, half my boards are mpu6000ES, need this to be dynamic. automatically set by mpu6050 driver.
uint8_t numRCChannels; // number of rc channels as reported by current input driver
bool useServo; // feature SERVO_TILT or wing/airplane mixers will enable this
} core_t;
typedef struct flags_t {
uint8_t OK_TO_ARM;
uint8_t ARMED;
uint8_t ACC_CALIBRATED;
uint8_t ANGLE_MODE;
uint8_t HORIZON_MODE;
uint8_t MAG_MODE;
uint8_t BARO_MODE;
uint8_t GPS_HOME_MODE;
uint8_t GPS_HOLD_MODE;
uint8_t HEADFREE_MODE;
uint8_t PASSTHRU_MODE;
uint8_t GPS_FIX;
uint8_t GPS_FIX_HOME;
uint8_t SMALL_ANGLES_25;
uint8_t CALIBRATE_MAG;
uint8_t VARIO_MODE;
uint8_t FIXED_WING; // set when in flying_wing or airplane mode. currently used by althold selection code
} flags_t;
extern int16_t gyroZero[3];
extern int16_t gyroData[3];
extern int16_t angle[2];
extern int16_t axisPID[3];
extern int16_t rcCommand[4];
extern uint8_t rcOptions[CHECKBOXITEMS];
extern int16_t failsafeCnt;
extern int16_t debug[4];
extern int16_t gyroADC[3], accADC[3], accSmooth[3], magADC[3];
extern int32_t accSum[3];
extern uint16_t acc_1G;
extern uint32_t accTimeSum;
extern int accSumCount;
extern uint32_t currentTime;
extern uint32_t previousTime;
extern uint16_t cycleTime;
extern uint16_t calibratingA;
extern uint16_t calibratingB;
extern uint16_t calibratingG;
extern int16_t heading;
extern int32_t baroPressure;
extern int32_t baroTemperature;
extern uint32_t baroPressureSum;
extern int32_t BaroAlt;
extern int32_t sonarAlt;
extern int32_t EstAlt;
extern int32_t AltHold;
extern int32_t errorAltitudeI;
extern int32_t BaroPID;
extern int32_t vario;
extern int16_t throttleAngleCorrection;
extern int16_t headFreeModeHold;
extern int16_t heading, magHold;
extern int16_t motor[MAX_MOTORS];
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
extern uint8_t toggleBeep;
#define PITCH_LOOKUP_LENGTH 7
#define THROTTLE_LOOKUP_LENGTH 12
extern int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
extern int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
// GPS stuff
extern int32_t GPS_coord[2];
extern int32_t GPS_home[2];
extern int32_t GPS_hold[2];
extern uint8_t GPS_numSat;
extern uint16_t GPS_distanceToHome; // distance to home or hold point in meters
extern int16_t GPS_directionToHome; // direction to home or hol point in degrees
extern uint16_t GPS_altitude,GPS_speed; // altitude in 0.1m and speed in 0.1m/s
extern uint8_t GPS_update; // it's a binary toogle to distinct a GPS position update
extern int16_t GPS_angle[2]; // it's the angles that must be applied for GPS correction
extern uint16_t GPS_ground_course; // degrees*10
extern int16_t nav[2];
extern int8_t nav_mode; // Navigation mode
extern int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother
extern uint8_t GPS_numCh; // Number of channels
extern uint8_t GPS_svinfo_chn[16]; // Channel number
extern uint8_t GPS_svinfo_svid[16]; // Satellite ID
extern uint8_t GPS_svinfo_quality[16]; // Bitfield Qualtity
extern uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Strength)
extern core_t core;
extern master_t mcfg;
extern config_t cfg;
extern flags_t f;
extern sensor_t acc;
extern sensor_t gyro;
extern baro_t baro;
// main
void setPIDController(int type);
void loop(void);
// IMU
void imuInit(void);
void annexCode(void);
void computeIMU(void);
void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat);
int getEstimatedAltitude(void);
// Sensors
void sensorsAutodetect(void);
void batteryInit(void);
uint16_t batteryAdcToVoltage(uint16_t src);
void ACC_getADC(void);
int Baro_update(void);
void Gyro_getADC(void);
void Mag_init(void);
int Mag_getADC(void);
void Sonar_init(void);
void Sonar_update(void);
// Output
void mixerInit(void);
void mixerResetMotors(void);
void mixerLoadMix(int index);
void writeServos(void);
void writeMotors(void);
void writeAllMotors(int16_t mc);
void mixTable(void);
// Serial
void serialInit(uint32_t baudrate);
void serialCom(void);
// Config
void parseRcChannels(const char *input);
void readEEPROM(void);
void writeEEPROM(uint8_t b, uint8_t updateProfile);
void checkFirstTime(bool reset);
bool sensors(uint32_t mask);
void sensorsSet(uint32_t mask);
void sensorsClear(uint32_t mask);
uint32_t sensorsMask(void);
bool feature(uint32_t mask);
void featureSet(uint32_t mask);
void featureClear(uint32_t mask);
void featureClearAll(void);
uint32_t featureMask(void);
// spektrum
void spektrumInit(rcReadRawDataPtr *callback);
bool spektrumFrameComplete(void);
// sbus
void sbusInit(rcReadRawDataPtr *callback);
bool sbusFrameComplete(void);
// sumd
void sumdInit(rcReadRawDataPtr *callback);
bool sumdFrameComplete(void);
// buzzer
void buzzer(uint8_t warn_vbat);
void systemBeep(bool onoff);
// cli
void cliProcess(void);
// gps
void gpsInit(uint8_t baudrate);
void gpsThread(void);
void gpsSetPIDs(void);
int8_t gpsSetPassthrough(void);
void GPS_reset_home_position(void);
void GPS_reset_nav(void);
void GPS_set_next_wp(int32_t* lat, int32_t* lon);
int32_t wrap_18000(int32_t error);
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