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fc52b6b4ff
* use wasThrottleRaised in place of isAirmodeActivated where airmode isn't really needed * fix unit test * fix typo * remove unnecessary check * final changes and clarificartions * Update src/main/flight/mixer.c Co-authored-by: Ivan Efimov <gendalf44@yandex.ru> --------- Co-authored-by: Mark Haslinghuis <mark@numloq.nl> Co-authored-by: Ivan Efimov <gendalf44@yandex.ru>
101 lines
3.1 KiB
C
101 lines
3.1 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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#include "common/time.h"
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#include "pg/pg.h"
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#if defined(USE_GPS) || defined(USE_MAG)
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extern int16_t magHold;
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#endif
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typedef struct throttleCorrectionConfig_s {
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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
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uint8_t throttle_correction_value; // the correction that will be applied at throttle_correction_angle.
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} throttleCorrectionConfig_t;
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typedef enum {
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LAUNCH_CONTROL_DISABLED = 0,
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LAUNCH_CONTROL_ACTIVE,
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LAUNCH_CONTROL_TRIGGERED,
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} launchControlState_e;
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typedef enum {
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LAUNCH_CONTROL_MODE_NORMAL = 0,
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LAUNCH_CONTROL_MODE_PITCHONLY,
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LAUNCH_CONTROL_MODE_FULL,
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LAUNCH_CONTROL_MODE_COUNT // must be the last element
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} launchControlMode_e;
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typedef enum {
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DISARM_REASON_ARMING_DISABLED = 0,
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DISARM_REASON_FAILSAFE = 1,
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DISARM_REASON_THROTTLE_TIMEOUT = 2,
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DISARM_REASON_STICKS = 3,
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DISARM_REASON_SWITCH = 4,
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DISARM_REASON_CRASH_PROTECTION = 5,
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DISARM_REASON_RUNAWAY_TAKEOFF = 6,
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DISARM_REASON_GPS_RESCUE = 7,
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DISARM_REASON_SERIAL_COMMAND = 8,
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DISARM_REASON_LANDING = 9,
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#ifdef UNIT_TEST
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DISARM_REASON_SYSTEM = 255,
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#endif
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} flightLogDisarmReason_e;
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#ifdef USE_LAUNCH_CONTROL
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#define LAUNCH_CONTROL_THROTTLE_TRIGGER_MAX 90
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extern const char * const osdLaunchControlModeNames[LAUNCH_CONTROL_MODE_COUNT];
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#endif
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PG_DECLARE(throttleCorrectionConfig_t, throttleCorrectionConfig);
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union rollAndPitchTrims_u;
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void handleInflightCalibrationStickPosition(void);
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void resetArmingDisabled(void);
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void disarm(flightLogDisarmReason_e reason);
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void tryArm(void);
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bool processRx(timeUs_t currentTimeUs);
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void processRxModes(timeUs_t currentTimeUs);
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void updateArmingStatus(void);
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void taskGyroSample(timeUs_t currentTimeUs);
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bool gyroFilterReady(void);
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bool pidLoopReady(void);
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void taskFiltering(timeUs_t currentTimeUs);
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void taskMainPidLoop(timeUs_t currentTimeUs);
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bool isCrashFlipModeActive(void);
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int8_t calculateThrottlePercent(void);
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uint8_t calculateThrottlePercentAbs(void);
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bool areSticksActive(uint8_t stickPercentLimit);
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void runawayTakeoffTemporaryDisable(uint8_t disableFlag);
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bool wasThrottleRaised();
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timeUs_t getLastDisarmTimeUs(void);
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bool isTryingToArm();
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void resetTryingToArm();
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void subTaskTelemetryPollSensors(timeUs_t currentTimeUs);
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bool isLaunchControlActive(void);
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