types.h

#ifndef TYPES_H_
#define TYPES_H_

enum rc {
  ROLL,
  PITCH,
  YAW,
  THROTTLE,
  AUX1,
  AUX2,
  AUX3,
  AUX4,
  AUX5,
  AUX6,
  AUX7,
  AUX8
};

enum pid {
  PIDROLL,
  PIDPITCH,
  PIDYAW,
  PIDALT,
  PIDPOS,
  PIDPOSR,
  PIDNAVR,
  PIDLEVEL,
  PIDMAG,
  PIDVEL,     // not used currently
  PIDITEMS
};

enum box {
  BOXARM,
  #if ACC
    BOXANGLE,
    BOXHORIZON,
  #endif
  #if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))
    BOXBARO,
  #endif
  #ifdef VARIOMETER
    BOXVARIO,
  #endif
  BOXMAG,
  #if defined(HEADFREE)
    BOXHEADFREE,
    BOXHEADADJ, // acquire heading for HEADFREE mode
  #endif
  #if defined(SERVO_TILT) || defined(GIMBAL)  || defined(SERVO_MIX_TILT)
    BOXCAMSTAB,
  #endif
  #if defined(CAMTRIG)
    BOXCAMTRIG,
  #endif
  #if GPS
    BOXGPSHOME,
    BOXGPSHOLD,
  #endif
  #if defined(FIXEDWING) || defined(HELICOPTER)
    BOXPASSTHRU,
  #endif
  #if defined(BUZZER)
    BOXBEEPERON,
  #endif
  #if defined(LED_FLASHER)
    BOXLEDMAX, // we want maximum illumination
    BOXLEDLOW, // low/no lights
  #endif
  #if defined(LANDING_LIGHTS_DDR)
    BOXLLIGHTS, // enable landing lights at any altitude
  #endif
  #ifdef INFLIGHT_ACC_CALIBRATION
    BOXCALIB,
  #endif
  #ifdef GOVERNOR_P
    BOXGOV,
  #endif
  #ifdef OSD_SWITCH
    BOXOSD,
  #endif
  CHECKBOXITEMS
};

#ifdef TEST_JIG_TRUST
typedef struct {
  int16_t  MainMotor_rpm;
#ifdef MAIN_MOTOR_TEMP
  int16_t  MainMotor_temp;
  int16_t  Room_temp;
#endif
} main_motor_data_t;
#endif

typedef struct {
  int16_t  accSmooth[3];
  int16_t  gyroData[3];
  int16_t  magADC[3];
  int32_t  gyroADC[3];
  int16_t  accADC[3];
} imu_t;
#ifdef PX4FLOW
typedef struct i2c_integral_frame_t
{
    uint16_t frame_count_since_last_readout;//number of flow measurements since last I2C readout [#frames]
    int16_t pixel_flow_x_integral;//accumulated flow in radians*10000 around x axis since last I2C readout [rad*10000]
    int16_t pixel_flow_y_integral;//accumulated flow in radians*10000 around y axis since last I2C readout [rad*10000]
    int16_t gyro_x_rate_integral;//accumulated gyro x rates in radians*10000 since last I2C readout [rad*10000] 
    int16_t gyro_y_rate_integral;//accumulated gyro y rates in radians*10000 since last I2C readout [rad*10000] 
    int16_t gyro_z_rate_integral;//accumulated gyro z rates in radians*10000 since last I2C readout [rad*10000] 
    uint32_t integration_timespan;//accumulation timespan in microseconds since last I2C readout [microseconds]
    uint32_t sonar_timestamp;// time since last sonar update [microseconds]
    int16_t ground_distance;// Ground distance in meters*1000 [meters*1000]
    int16_t gyro_temperature;// Temperature * 100 in centi-degrees Celsius [degcelsius*100]
    uint8_t quality;// averaged quality of accumulated flow values [0:bad quality;255: max quality]
} __attribute__((packed)) i2c_integral_frame_t;
#endif

typedef struct {
  uint8_t  vbat;               // battery voltage in 0.1V steps
  uint16_t intPowerMeterSum;
  uint16_t rssi;              // range: [0;1023]
  uint16_t amperage;          // 1unit == 100mA
  uint16_t watts;             // 1unit == 1W
} analog_t;

typedef struct {
  int32_t  EstAlt;             // in cm
  int16_t  vario;              // variometer in cm/s
} alt_t;

typedef struct {
  int16_t angle[2];            // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
  int16_t heading;             // variometer in cm/s
} att_t;

typedef struct {
  uint8_t OK_TO_ARM :1 ;
  uint8_t ARMED :1 ;
  uint8_t I2C_INIT_DONE :1 ; // For i2c gps we have to now when i2c init is done, so we can update parameters to the i2cgps from eeprom (at startup it is done in setup())
  uint8_t ACC_CALIBRATED :1 ;
  uint8_t ANGLE_MODE :1 ;
  uint8_t HORIZON_MODE :1 ;
  uint8_t MAG_MODE :1 ;
  uint8_t BARO_MODE :1 ;
  uint8_t GPS_HOME_MODE :1 ;
  uint8_t GPS_HOLD_MODE :1 ;
  uint8_t HEADFREE_MODE :1 ;
  uint8_t PASSTHRU_MODE :1 ;
  uint8_t GPS_FIX :1 ;
  uint8_t GPS_FIX_HOME :1 ;
  uint8_t SMALL_ANGLES_25 :1 ;
  uint8_t CALIBRATE_MAG :1 ;
  uint8_t VARIO_MODE :1;
} flags_struct_t;

typedef struct {
  uint8_t currentSet;
  int16_t accZero[3];
  int16_t magZero[3];
  uint16_t flashsum;
  uint8_t checksum;      // MUST BE ON LAST POSITION OF STRUCTURE !
} global_conf_t;

struct pid_ {
  uint8_t P8;
  uint8_t I8;
  uint8_t D8;
};

struct servo_conf_ {  // this is a generic way to configure a servo, every multi type with a servo should use it
  int16_t min;        // minimum value, must be more than 1020 with the current implementation
  int16_t max;        // maximum value, must be less than 2000 with the current implementation
  int16_t middle;     // default should be 1500
  int8_t  rate;       // range [-100;+100] ; can be used to ajust a rate 0-100% and a direction
};

typedef struct {
  pid_    pid[PIDITEMS];
  uint8_t rcRate8;
  uint8_t rcExpo8;
  uint8_t rollPitchRate;
  uint8_t yawRate;
  uint8_t dynThrPID;
  uint8_t thrMid8;
  uint8_t thrExpo8;
  int16_t angleTrim[2];
  uint16_t activate[CHECKBOXITEMS];
  uint8_t powerTrigger1;
  #if MAG
    int16_t mag_declination;
  #endif
  servo_conf_ servoConf[8];
  #if defined(GYRO_SMOOTHING)
    uint8_t Smoothing[3];
  #endif
  #if defined (FAILSAFE)
    int16_t failsafe_throttle;
  #endif
  #ifdef VBAT
    uint8_t vbatscale;
    uint8_t vbatlevel_warn1;
    uint8_t vbatlevel_warn2;
    uint8_t vbatlevel_crit;
  #endif
  #ifdef POWERMETER
    uint8_t pint2ma;
  #endif
  #ifdef POWERMETER_HARD
    uint16_t psensornull;
  #endif
  #ifdef MMGYRO
    uint8_t mmgyro;
  #endif
  #ifdef ARMEDTIMEWARNING
    uint16_t armedtimewarning;
  #endif
  int16_t minthrottle;
  #ifdef GOVERNOR_P
   int16_t governorP;
   int16_t governorD;
  #endif
  uint8_t  checksum;      // MUST BE ON LAST POSITION OF CONF STRUCTURE !
} conf_t;

#ifdef LOG_PERMANENT
typedef struct {
  uint16_t arm;           // #arm events
  uint16_t disarm;        // #disarm events
  uint16_t start;         // #powercycle/reset/initialize events
  uint32_t armed_time ;   // copy of armedTime @ disarm
  uint32_t lifetime;      // sum (armed) lifetime in seconds
  uint16_t failsafe;      // #failsafe state @ disarm
  uint16_t i2c;           // #i2c errs state @ disarm
  uint8_t  running;       // toggle on arm & disarm to monitor for clean shutdown vs. powercut
  uint8_t  checksum;      // MUST BE ON LAST POSITION OF CONF STRUCTURE !
} plog_t;
#endif

#endif /* TYPES_H_ */