src/main/flight/flight.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
  21 typedef enum {
  22     PIDROLL,
  23     PIDPITCH,
  24     PIDYAW,
  25     PIDALT,
  26     PIDPOS,
  27     PIDPOSR,
  28     PIDNAVR,
  29     PIDLEVEL,
  30     PIDMAG,
  31     PIDVEL,
  32     PID_ITEM_COUNT
  33 } pidIndex_e;
  34
  35 #define IS_PID_CONTROLLER_FP_BASED(pidController) (pidController == 2)
  36
  37 typedef struct pidProfile_s {
  38     uint8_t pidController;                  // 0 = multiwii original, 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671, 1, 2 = Luggi09s new baseflight pid
  39
  40     uint8_t P8[PID_ITEM_COUNT];
  41     uint8_t I8[PID_ITEM_COUNT];
  42     uint8_t D8[PID_ITEM_COUNT];
  43
  44     float P_f[3];                           // float p i and d factors for lux float pid controller
  45     float I_f[3];
  46     float D_f[3];
  47     float A_level;
  48     float H_level;
  49     uint8_t H_sensitivity;
  50 } pidProfile_t;
  51
  52 #define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
  53 #define DECIDEGREES_TO_DEGREES(angle) (angle / 10.0f)
  54
  55 extern int16_t axisPID[XYZ_AXIS_COUNT];
  56 extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
  57
  58 void setPIDController(int type);
  59 void resetErrorAngle(void);
  60 void resetErrorGyro(void);
  61
  62