src/main/fc/fc_core.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "common/time.h"
  21 #include "config/parameter_group.h"
  22
  23 #if defined(GPS) || defined(MAG)
  24 extern int16_t magHold;
  25 #endif
  26
  27 extern bool isRXDataNew;
  28 extern int16_t headFreeModeHold;
  29
  30 extern uint8_t motorControlEnable;
  31
  32 typedef struct throttleCorrectionConfig_s {
  33     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
  34     uint8_t throttle_correction_value;      // the correction that will be applied at throttle_correction_angle.
  35 } throttleCorrectionConfig_t;
  36
  37 PG_DECLARE(throttleCorrectionConfig_t, throttleCorrectionConfig);
  38
  39 union rollAndPitchTrims_u;
  40 void applyAndSaveAccelerometerTrimsDelta(union rollAndPitchTrims_u *rollAndPitchTrimsDelta);
  41 void handleInflightCalibrationStickPosition();
  42
  43 void mwDisarm(void);
  44 void mwArm(void);
  45
  46 void processRx(timeUs_t currentTimeUs);
  47 void updateLEDs(void);
  48 void updateRcCommands(void);
  49
  50 void taskMainPidLoop(timeUs_t currentTimeUs);