src/main/sensors/sensors.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 typedef enum {
  24     SENSOR_INDEX_GYRO = 0,
  25     SENSOR_INDEX_ACC,
  26     SENSOR_INDEX_BARO,
  27     SENSOR_INDEX_MAG,
  28     SENSOR_INDEX_RANGEFINDER,
  29     SENSOR_INDEX_COUNT
  30 } sensorIndex_e;
  31
  32 extern uint8_t requestedSensors[SENSOR_INDEX_COUNT];
  33 extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];
  34
  35 typedef struct int16_flightDynamicsTrims_s {
  36     int16_t roll;
  37     int16_t pitch;
  38     int16_t yaw;
  39     int16_t calibrationCompleted;
  40 } flightDynamicsTrims_def_t;
  41
  42 typedef union flightDynamicsTrims_u {
  43     int16_t raw[4];
  44     flightDynamicsTrims_def_t values;
  45 } flightDynamicsTrims_t;
  46
  47 #define CALIBRATING_ACC_CYCLES              400
  48 #define CALIBRATING_BARO_CYCLES             200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
  49
  50 typedef enum {
  51     SENSOR_GYRO = 1 << 0, // always present
  52     SENSOR_ACC = 1 << 1,
  53     SENSOR_BARO = 1 << 2,
  54     SENSOR_MAG = 1 << 3,
  55     SENSOR_SONAR = 1 << 4,
  56     SENSOR_RANGEFINDER = 1 << 4,
  57     SENSOR_GPS = 1 << 5,
  58     SENSOR_GPSMAG = 1 << 6
  59 } sensors_e;