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Normalize all the line endings
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Dominic Clifton
parent
4237370b60
commit
d60183d91d
396 changed files with 158300 additions and 158300 deletions
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@ -1,142 +1,142 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* 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 Cleanflight. 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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PIDROLL,
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PIDPITCH,
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PIDYAW,
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PIDALT,
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PIDPOS,
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PIDPOSR,
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PIDNAVR,
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PIDLEVEL,
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PIDMAG,
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PIDVEL,
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PID_ITEM_COUNT
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} pidIndex_e;
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typedef struct pidProfile_s {
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uint8_t P8[PID_ITEM_COUNT];
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uint8_t I8[PID_ITEM_COUNT];
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uint8_t D8[PID_ITEM_COUNT];
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float P_f[3]; // float p i and d factors for the new baseflight pid
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float I_f[3];
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float D_f[3];
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float A_level;
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float H_level;
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} pidProfile_t;
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typedef enum {
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AI_ROLL = 0,
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AI_PITCH,
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} angle_index_t;
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#define ANGLE_INDEX_COUNT 2
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// See http://en.wikipedia.org/wiki/Flight_dynamics
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typedef enum {
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FD_ROLL = 0,
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FD_PITCH,
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FD_YAW
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} flight_dynamics_index_t;
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#define FLIGHT_DYNAMICS_INDEX_COUNT 3
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typedef struct fp_vector {
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float X;
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float Y;
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float Z;
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} t_fp_vector_def;
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typedef union {
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float A[3];
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t_fp_vector_def V;
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} t_fp_vector;
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typedef struct fp_angles {
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float roll;
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float pitch;
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float yaw;
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} fp_angles_def;
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typedef union {
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float raw[3];
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fp_angles_def angles;
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} fp_angles_t;
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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 {
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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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typedef struct rollAndPitchTrims_s {
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int16_t roll;
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int16_t pitch;
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} rollAndPitchTrims_t_def;
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typedef union {
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int16_t raw[2];
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rollAndPitchTrims_t_def values;
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} rollAndPitchTrims_t;
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typedef struct rollAndPitchInclination_s {
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// absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
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int16_t rollDeciDegrees;
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int16_t pitchDeciDegrees;
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} rollAndPitchInclination_t_def;
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typedef union {
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int16_t raw[ANGLE_INDEX_COUNT];
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rollAndPitchInclination_t_def values;
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} rollAndPitchInclination_t;
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#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
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#define DECIDEGREES_TO_DEGREES(angle) (angle / 10.0f)
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extern rollAndPitchInclination_t inclination;
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extern int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT];
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extern int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT];
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extern int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
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extern int32_t accSum[XYZ_AXIS_COUNT];
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extern int16_t axisPID[XYZ_AXIS_COUNT];
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extern int16_t heading, magHold;
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extern int32_t EstAlt;
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extern int32_t AltHold;
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extern int32_t EstAlt;
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extern int32_t vario;
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void setPIDController(int type);
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void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
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void resetErrorAngle(void);
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void resetErrorGyro(void);
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* 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 Cleanflight. 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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PIDROLL,
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PIDPITCH,
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PIDYAW,
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PIDALT,
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PIDPOS,
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PIDPOSR,
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PIDNAVR,
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PIDLEVEL,
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PIDMAG,
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PIDVEL,
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PID_ITEM_COUNT
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} pidIndex_e;
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typedef struct pidProfile_s {
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uint8_t P8[PID_ITEM_COUNT];
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uint8_t I8[PID_ITEM_COUNT];
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uint8_t D8[PID_ITEM_COUNT];
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float P_f[3]; // float p i and d factors for the new baseflight pid
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float I_f[3];
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float D_f[3];
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float A_level;
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float H_level;
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} pidProfile_t;
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typedef enum {
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AI_ROLL = 0,
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AI_PITCH,
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} angle_index_t;
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#define ANGLE_INDEX_COUNT 2
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// See http://en.wikipedia.org/wiki/Flight_dynamics
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typedef enum {
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FD_ROLL = 0,
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FD_PITCH,
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FD_YAW
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} flight_dynamics_index_t;
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#define FLIGHT_DYNAMICS_INDEX_COUNT 3
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typedef struct fp_vector {
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float X;
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float Y;
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float Z;
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} t_fp_vector_def;
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typedef union {
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float A[3];
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t_fp_vector_def V;
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} t_fp_vector;
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typedef struct fp_angles {
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float roll;
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float pitch;
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float yaw;
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} fp_angles_def;
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typedef union {
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float raw[3];
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fp_angles_def angles;
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} fp_angles_t;
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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 {
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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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typedef struct rollAndPitchTrims_s {
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int16_t roll;
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int16_t pitch;
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} rollAndPitchTrims_t_def;
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typedef union {
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int16_t raw[2];
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rollAndPitchTrims_t_def values;
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} rollAndPitchTrims_t;
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typedef struct rollAndPitchInclination_s {
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// absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
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int16_t rollDeciDegrees;
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int16_t pitchDeciDegrees;
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} rollAndPitchInclination_t_def;
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typedef union {
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int16_t raw[ANGLE_INDEX_COUNT];
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rollAndPitchInclination_t_def values;
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} rollAndPitchInclination_t;
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#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
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#define DECIDEGREES_TO_DEGREES(angle) (angle / 10.0f)
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extern rollAndPitchInclination_t inclination;
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extern int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT];
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extern int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT];
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extern int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
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extern int32_t accSum[XYZ_AXIS_COUNT];
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extern int16_t axisPID[XYZ_AXIS_COUNT];
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extern int16_t heading, magHold;
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extern int32_t EstAlt;
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extern int32_t AltHold;
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extern int32_t EstAlt;
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extern int32_t vario;
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void setPIDController(int type);
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void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
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void resetErrorAngle(void);
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void resetErrorGyro(void);
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