#include "config/rate_profile.h"

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Data Structures
struct	rc_command
	RC commands state. Inputs are raw commands in range [1000-2000]. Outputs are RC commands in range [-500;500] after applying expo and other parameters. More...

Macros
#define	PITCH_LOOKUP_LENGTH 7
	compile time configuration of the pitch/roll lookup table More...

#define	YAW_LOOKUP_LENGTH 7
	compile time configuration of the yaw lookup table More...

#define	THROTTLE_LOOKUP_LENGTH 12
	compile time configuration of the throttle lookup table More...

Functions
void	rc_command_init (struct rc_command self, struct rx rx)
	Initializes the curves with default linear ranges. More...

void	rc_command_set_rate_config (struct rc_command self, const struct rate_profile rates)
	Updates internal variables to use new rates and also recalculates the lookup tables if the supplied profile is different than the one that is currently being used. More...

void	rc_command_update (struct rc_command *self)
	Updates current rc rates from the current rc values. Inputs are in range [1000;2000] and should correspond to raw pwm values from rc receiver. More...

int16_t	rc_command_axis (struct rc_command *self, uint8_t stick)
	Get current stick value in range [-500;500], stick is only ROLL, PITCH, YAw. More...

Macro Definition Documentation

#define PITCH_LOOKUP_LENGTH 7

compile time configuration of the pitch/roll lookup table

Flight Library

The main responsibility of this class is to process raw rc commands and translate them into values that are to be passed as commands to the flight controller. This process involves applying expo and ensuring valid limits on the output values.

#define THROTTLE_LOOKUP_LENGTH 12

compile time configuration of the throttle lookup table

#define YAW_LOOKUP_LENGTH 7

compile time configuration of the yaw lookup table

Function Documentation

int16_t rc_command_axis	(	struct rc_command *	self,
		uint8_t	stick
	)

Get current stick value in range [-500;500], stick is only ROLL, PITCH, YAw.

void rc_command_init	(	struct rc_command *	self,
		struct rx *	rx
	)

Initializes the curves with default linear ranges.

void rc_command_set_rate_config	(	struct rc_command *	self,
		const struct rate_profile *	rates
	)

Updates internal variables to use new rates and also recalculates the lookup tables if the supplied profile is different than the one that is currently being used.

void rc_command_update ( struct rc_command * self )

Updates current rc rates from the current rc values. Inputs are in range [1000;2000] and should correspond to raw pwm values from rc receiver.

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Data Structures

Macros

Functions

Macro Definition Documentation

Function Documentation