58 lines
2.4 KiB
C
58 lines
2.4 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight 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, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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// navigation mode
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typedef enum {
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NAV_MODE_NONE = 0,
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NAV_MODE_POSHOLD,
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NAV_MODE_WP
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} navigationMode_e;
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// FIXME ap_mode is badly named, it's a value that is compared to rcCommand, not a flag at it's name implies.
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typedef struct gpsProfile_s {
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uint16_t gps_wp_radius; // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
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uint8_t gps_lpf; // Low pass filter cut frequency for derivative calculation (default 20Hz)
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uint8_t nav_slew_rate; // Adds a rate control to nav output, will smoothen out nav angle spikes
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uint8_t nav_controls_heading; // copter faces toward the navigation point, maghold must be enabled for it
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uint16_t nav_speed_min; // cm/sec
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uint16_t nav_speed_max; // cm/sec
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uint16_t ap_mode; // Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks, creating a deadspan for GPS
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} gpsProfile_t;
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extern int16_t GPS_angle[ANGLE_INDEX_COUNT]; // it's the angles that must be applied for GPS correction
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extern int32_t GPS_home[2];
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extern int32_t GPS_hold[2];
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extern uint16_t GPS_distanceToHome; // distance to home point in meters
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extern int16_t GPS_directionToHome; // direction to home or hol point in degrees
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extern navigationMode_e nav_mode; // Navigation mode
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void GPS_reset_home_position(void);
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void GPS_reset_nav(void);
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void GPS_set_next_wp(int32_t* lat, int32_t* lon);
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void gpsUseProfile(gpsProfile_t *gpsProfileToUse);
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void gpsUsePIDs(pidProfile_t *pidProfile);
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void updateGpsStateForHomeAndHoldMode(void);
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void updateGpsWaypointsAndMode(void);
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void onGpsNewData(void);
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