| User | Revision | Line number | New contents of line |
|---|
| agiembed |
0:d463d5c04541
|
1
|
|
| agiembed |
0:d463d5c04541
|
2
|
typedef struct _fcc_data {
|
| agiembed |
0:d463d5c04541
|
3
|
|
| agiembed |
0:d463d5c04541
|
4
|
unsigned short US; //2
|
| agiembed |
0:d463d5c04541
|
5
|
unsigned short IR1; //2
|
| agiembed |
0:d463d5c04541
|
6
|
unsigned short IR2; //2
|
| agiembed |
0:d463d5c04541
|
7
|
unsigned short IR3; //2
|
| agiembed |
0:d463d5c04541
|
8
|
unsigned short IR4; //2
|
| agiembed |
0:d463d5c04541
|
9
|
unsigned short bat; //2
|
| agiembed |
0:d463d5c04541
|
10
|
char state_flag; //1
|
| agiembed |
0:d463d5c04541
|
11
|
float roll, pitch, yaw; // 4, 4, 4
|
| agiembed |
0:d463d5c04541
|
12
|
float g_roll, g_pitch, g_yaw; //4, 4, 4
|
| agiembed |
0:d463d5c04541
|
13
|
float acc_x, acc_y, acc_z; //4, 4 ,4
|
| agiembed |
0:d463d5c04541
|
14
|
|
| agiembed |
0:d463d5c04541
|
15
|
}FCC_DATA;
|
| agiembed |
0:d463d5c04541
|
16
|
FCC_DATA fcc;
|
| agiembed |
0:d463d5c04541
|
17
|
|
| agiembed |
0:d463d5c04541
|
18
|
typedef struct _imu{
|
| agiembed |
0:d463d5c04541
|
19
|
char *roll, *pitch, *yaw, *g_roll, *g_pitch, *g_yaw, *acc_x, *acc_y, *acc_z;
|
| agiembed |
0:d463d5c04541
|
20
|
}data_IMU;
|
| agiembed |
0:d463d5c04541
|
21
|
data_IMU data;
|
| agiembed |
0:d463d5c04541
|
22
|
|
| agiembed |
0:d463d5c04541
|
23
|
typedef struct _ahrs {
|
| agiembed |
0:d463d5c04541
|
24
|
|
| agiembed |
0:d463d5c04541
|
25
|
short packet; //2
|
| agiembed |
0:d463d5c04541
|
26
|
unsigned char data_info; //1
|
| agiembed |
0:d463d5c04541
|
27
|
float g_roll, g_pitch, g_yaw; //4, 4, 4
|
| agiembed |
0:d463d5c04541
|
28
|
float acc_x, acc_y, acc_z; //4, 4 ,4
|
| agiembed |
0:d463d5c04541
|
29
|
float roll, pitch, yaw; // 4, 4, 4
|
| agiembed |
0:d463d5c04541
|
30
|
|
| agiembed |
0:d463d5c04541
|
31
|
}AHRS_DATA;
|
| agiembed |
0:d463d5c04541
|
32
|
AHRS_DATA IMU;
|
| agiembed |
0:d463d5c04541
|
33
|
|
| agiembed |
0:d463d5c04541
|
34
|
|
| agiembed |
0:d463d5c04541
|
35
|
typedef struct _gps {
|
| agiembed |
0:d463d5c04541
|
36
|
float lat, lon, alti, dist, bear;
|
| agiembed |
0:d463d5c04541
|
37
|
}GPS_DATA;
|
| agiembed |
0:d463d5c04541
|
38
|
GPS_DATA gps;
|
| agiembed |
0:d463d5c04541
|
39
|
|
| agiembed |
0:d463d5c04541
|
40
|
typedef struct _rc {
|
| agiembed |
0:d463d5c04541
|
41
|
short roll, throttle, pitch, yaw, sw;
|
| agiembed |
0:d463d5c04541
|
42
|
short rolls, throttles, pitchs, yaws, sws;
|
| agiembed |
0:d463d5c04541
|
43
|
} RC_DATA;
|
| agiembed |
0:d463d5c04541
|
44
|
RC_DATA RC;
|
| agiembed |
0:d463d5c04541
|
45
|
|
| agiembed |
0:d463d5c04541
|
46
|
typedef struct _last{
|
| agiembed |
0:d463d5c04541
|
47
|
float roll, pitch, yaw; // 4, 4, 4
|
| agiembed |
0:d463d5c04541
|
48
|
float g_roll, g_pitch, g_yaw; //4, 4, 4
|
| agiembed |
0:d463d5c04541
|
49
|
float acc_x, acc_y, acc_z; //4, 4 ,4
|
| agiembed |
0:d463d5c04541
|
50
|
} LAST_IMU;
|
| agiembed |
0:d463d5c04541
|
51
|
LAST_IMU last;
|
| agiembed |
0:d463d5c04541
|
52
|
|
| agiembed |
0:d463d5c04541
|
53
|
typedef struct _gainRoll{
|
| agiembed |
0:d463d5c04541
|
54
|
float p, i, d, r;
|
| agiembed |
0:d463d5c04541
|
55
|
}GAIN_ROLL;
|
| agiembed |
0:d463d5c04541
|
56
|
GAIN_ROLL gainRoll;
|
| agiembed |
0:d463d5c04541
|
57
|
|
| agiembed |
0:d463d5c04541
|
58
|
typedef struct _gainPitch{
|
| agiembed |
0:d463d5c04541
|
59
|
float p, i, d, r;
|
| agiembed |
0:d463d5c04541
|
60
|
}GAIN_PITCH;
|
| agiembed |
0:d463d5c04541
|
61
|
GAIN_PITCH gainPitch;
|
| agiembed |
0:d463d5c04541
|
62
|
|
| agiembed |
0:d463d5c04541
|
63
|
typedef struct _gainYaw{
|
| agiembed |
0:d463d5c04541
|
64
|
float p, i, d, r;
|
| agiembed |
0:d463d5c04541
|
65
|
}GAIN_YAW;
|
| agiembed |
0:d463d5c04541
|
66
|
GAIN_YAW gainYaw;
|
| agiembed |
0:d463d5c04541
|
67
|
|
| agiembed |
0:d463d5c04541
|
68
|
typedef struct _gainAlti{
|
| agiembed |
0:d463d5c04541
|
69
|
float p, i, d, r;
|
| agiembed |
0:d463d5c04541
|
70
|
}GAIN_ALTI;
|
| agiembed |
0:d463d5c04541
|
71
|
GAIN_ALTI gainAlti;
|
| agiembed |
0:d463d5c04541
|
72
|
|
| agiembed |
0:d463d5c04541
|
73
|
|
| agiembed |
0:d463d5c04541
|
74
|
//======== PID Struct =====/
|
| agiembed |
0:d463d5c04541
|
75
|
typedef struct GAIN_GET
|
| agiembed |
0:d463d5c04541
|
76
|
{
|
| agiembed |
0:d463d5c04541
|
77
|
char Index, flight_mode, sensor_select; //3
|
| agiembed |
0:d463d5c04541
|
78
|
float p_gain, i_gain, d_gain, goal; //4, 4, 4, 4
|
| agiembed |
0:d463d5c04541
|
79
|
char dumm; //1 -dummy
|
| agiembed |
0:d463d5c04541
|
80
|
}PID_GAIN;
|
| agiembed |
0:d463d5c04541
|
81
|
PID_GAIN PID;
|
| agiembed |
0:d463d5c04541
|
82
|
|
| agiembed |
0:d463d5c04541
|
83
|
|
| agiembed |
0:d463d5c04541
|
84
|
//======== F_MODE Struct =====/
|
| agiembed |
0:d463d5c04541
|
85
|
typedef struct F_MODE_GET
|
| agiembed |
0:d463d5c04541
|
86
|
{
|
| agiembed |
0:d463d5c04541
|
87
|
unsigned short mode;
|
| agiembed |
0:d463d5c04541
|
88
|
///char lock, mode, mission; //1, 1, 1
|
| agiembed |
0:d463d5c04541
|
89
|
// unsigned short heading_ref; //2
|
| agiembed |
0:d463d5c04541
|
90
|
// unsigned short alti_ref; //2
|
| agiembed |
0:d463d5c04541
|
91
|
/// unsigned short y_trim; //2
|
| agiembed |
0:d463d5c04541
|
92
|
/// unsigned short r_trim; //2
|
| agiembed |
0:d463d5c04541
|
93
|
/// unsigned short p_trim; //2
|
| agiembed |
0:d463d5c04541
|
94
|
//char dumm; //1 -dummy
|
| agiembed |
0:d463d5c04541
|
95
|
}F_MODE_DATA;
|
| agiembed |
0:d463d5c04541
|
96
|
F_MODE_DATA FMD;
|
| agiembed |
0:d463d5c04541
|
97
|
|
Raharja Agie