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50 lines
1.6 KiB
C
50 lines
1.6 KiB
C
/**
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* || ____ _ __ ______
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* +------+ / __ )(_) /_/ ____/_________ _____ ___
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* | 0xBC | / __ / / __/ / / ___/ __ `/_ / / _ \
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* +------+ / /_/ / / /_/ /___ / / / /_/ / / /_/ __/
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* || || /_____/_/\__/\____//_/ \__,_/ /___/\___/
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*
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* Crazyflie control firmware
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*
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* Copyright (C) 2011-2012 Bitcraze AB
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*
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* This program 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, in version 3.
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*
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* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifndef COMMANDER_H_
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#define COMMANDER_H_
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#include <stdint.h>
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#include <stdbool.h>
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#define COMMANDER_WDT_TIMEOUT_STABALIZE M2T(500)
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#define COMMANDER_WDT_TIMEOUT_SHUTDOWN M2T(2000)
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typedef enum
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{
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RATE,
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ANGLE
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} RPYType;
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void commanderInit(void);
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bool commanderTest(void);
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void commanderWatchdog(void);
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uint32_t commanderGetInactivityTime(void);
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void commanderGetRPY(float* eulerRollDesired, float* eulerPitchDesired, float* eulerYawDesired);
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void commanderGetRPYType(RPYType* rollType, RPYType* pitchType, RPYType* yawType);
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void commanderGetThrust(uint16_t* thrust);
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void commanderGetAltHold(bool* altHold, bool* setAltHold, float* altHoldChange);
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#endif /* COMMANDER_H_ */
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