src/main/fc/controlrate_profile.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 #include <stdint.h>
  24
  25 #include "pg/pg.h"
  26
  27 #define CONTROL_RATE_PROFILE_COUNT  6
  28
  29 typedef enum {
  30     RATES_TYPE_BETAFLIGHT = 0,
  31     RATES_TYPE_RACEFLIGHT,
  32 } ratesType_e;
  33
  34 typedef enum {
  35     THROTTLE_LIMIT_TYPE_OFF = 0,
  36     THROTTLE_LIMIT_TYPE_SCALE,
  37     THROTTLE_LIMIT_TYPE_CLIP,
  38 } throttleLimitType_e;
  39
  40 typedef struct controlRateConfig_s {
  41     uint8_t thrMid8;
  42     uint8_t thrExpo8;
  43     uint8_t rates_type;
  44     uint8_t rcRates[3];
  45     uint8_t rcExpo[3];
  46     uint8_t rates[3];
  47     uint8_t dynThrPID;
  48     uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
  49     uint8_t throttle_limit_type;            // Sets the throttle limiting type - off, scale or clip
  50     uint8_t throttle_limit_percent;         // Sets the maximum pilot commanded throttle limit
  51 } controlRateConfig_t;
  52
  53 PG_DECLARE_ARRAY(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
  54
  55 extern controlRateConfig_t *currentControlRateProfile;
  56
  57 void loadControlRateProfile(void);
  58 void changeControlRateProfile(uint8_t controlRateProfileIndex);
  59
  60 void copyControlRateProfile(const uint8_t dstControlRateProfileIndex, const uint8_t srcControlRateProfileIndex);