MultiWii.cpp File Reference

#include <avr/io.h>
#include "Arduino.h"
#include "config.h"
#include "def.h"
#include "types.h"
#include "MultiWii.h"
#include "Alarms.h"
#include "EEPROM.h"
#include "IMU.h"
#include "LCD.h"
#include "Output.h"
#include "RX.h"
#include "Sensors.h"
#include "Serial.h"
#include "GPS.h"
#include "Protocol.h"
#include <avr/pgmspace.h>

Macros
#define	ROL_LO   (1<<(2*ROLL))
#define	ROL_CE   (3<<(2*ROLL))
#define	ROL_HI   (2<<(2*ROLL))
#define	PIT_LO   (1<<(2*PITCH))
#define	PIT_CE   (3<<(2*PITCH))
#define	PIT_HI   (2<<(2*PITCH))
#define	YAW_LO   (1<<(2*YAW))
#define	YAW_CE   (3<<(2*YAW))
#define	YAW_HI   (2<<(2*YAW))
#define	THR_LO   (1<<(2*THROTTLE))
#define	THR_CE   (3<<(2*THROTTLE))
#define	THR_HI   (2<<(2*THROTTLE))
#define	DYN_THR_PID_CHANNEL   THROTTLE
#define	GYRO_P_MAX   300
#define	GYRO_I_MAX   250

Functions
void	annexCode ()
void	setup ()
void	go_arm ()
void	go_disarm ()
void	loop ()

Variables
const char pidnames[]	PROGMEM
uint32_t	currentTime = 0
uint16_t	previousTime = 0
uint16_t	cycleTime = 0
uint16_t	calibratingA = 0
uint16_t	calibratingB = 0
uint16_t	calibratingG
int16_t	magHold
int16_t	headFreeModeHold
uint8_t	vbatMin = VBATNOMINAL
uint8_t	rcOptions [CHECKBOXITEMS]
int32_t	AltHold
int16_t	sonarAlt
int16_t	BaroPID = 0
int16_t	errorAltitudeI = 0
int16_t	gyroZero [3] = {0,0,0}
imu_t	imu
analog_t	analog
alt_t	alt
att_t	att
int16_t	debug [4]
flags_struct_t	f
int16_t	i2c_errors_count = 0
uint16_t	intPowerTrigger1
int16_t	failsafeEvents = 0
volatile int16_t	failsafeCnt = 0
int16_t	rcData [RC_CHANS]
int16_t	rcSerial [8]
int16_t	rcCommand [4]
uint8_t	rcSerialCount = 0
int16_t	lookupPitchRollRC [5]
uint16_t	lookupThrottleRC [11]
int16_t	axisPID [3]
int16_t	motor [8]
int16_t	servo [8] = {1500,1500,1500,1500,1500,1500,1500,1000}
global_conf_t	global_conf
conf_t	conf
int16_t	GPS_angle [2] = { 0, 0}
int32_t	GPS_coord [2]
int32_t	GPS_home [2]
int32_t	GPS_hold [2]
int32_t	GPS_prev [2]
int32_t	GPS_poi [2]
uint8_t	GPS_numSat
uint16_t	GPS_distanceToHome
int16_t	GPS_directionToHome
int32_t	GPS_directionToPoi
uint16_t	GPS_altitude
uint16_t	GPS_speed
uint8_t	GPS_update = 0
uint16_t	GPS_ground_course = 0
uint8_t	NAV_state = 0
uint8_t	NAV_error = 0
uint8_t	prv_gps_modes = 0
uint32_t	nav_timer_stop = 0
	GPS_checkbox items packed into 1 byte for checking GPS mode changes. More...
uint16_t	nav_hold_time
	common timer used in navigation (contains the desired stop time in millis() More...
uint8_t	NAV_paused_at = 0
	time in seconds to hold position More...
uint8_t	next_step = 1
int16_t	jump_times = -10
	The mission step which is upcoming it equals with the mission_step stored in EEPROM. More...
int16_t	nav [2]
int16_t	nav_rated [2]
int32_t	original_altitude
int32_t	target_altitude
int32_t	alt_to_hold
uint32_t	alt_change_timer
int8_t	alt_change_flag
uint32_t	alt_change
uint8_t	alarmArray [ALRM_FAC_SIZE]

Macro Definition Documentation

#define DYN_THR_PID_CHANNEL   THROTTLE

#define GYRO_I_MAX   250

#define GYRO_P_MAX   300

#define PIT_CE   (3<<(2*PITCH))

#define PIT_HI   (2<<(2*PITCH))

#define PIT_LO   (1<<(2*PITCH))

#define ROL_CE   (3<<(2*ROLL))

#define ROL_HI   (2<<(2*ROLL))

#define ROL_LO   (1<<(2*ROLL))

#define THR_CE   (3<<(2*THROTTLE))

#define THR_HI   (2<<(2*THROTTLE))

#define THR_LO   (1<<(2*THROTTLE))

#define YAW_CE   (3<<(2*YAW))

#define YAW_HI   (2<<(2*YAW))

#define YAW_LO   (1<<(2*YAW))

Function Documentation

void annexCode

(

)

void go_arm

(

)

void go_disarm

(

)

void loop

(

void

)

void setup

(

void

)

Variable Documentation

uint8_t alarmArray[ALRM_FAC_SIZE]

alt_t alt

uint32_t alt_change

int8_t alt_change_flag

uint32_t alt_change_timer

int32_t alt_to_hold

int32_t AltHold

analog_t analog

att_t att

int16_t axisPID[3]

int16_t BaroPID = 0

uint16_t calibratingA = 0

uint16_t calibratingB = 0

uint16_t calibratingG

conf_t conf

uint32_t currentTime = 0

uint16_t cycleTime = 0

int16_t debug[4]

int16_t errorAltitudeI = 0

flags_struct_t f

volatile int16_t failsafeCnt = 0

int16_t failsafeEvents = 0

global_conf_t global_conf

uint16_t GPS_altitude

int16_t GPS_angle[2] = { 0, 0}

int32_t GPS_coord[2]

int16_t GPS_directionToHome

int32_t GPS_directionToPoi

uint16_t GPS_distanceToHome

uint16_t GPS_ground_course = 0

int32_t GPS_hold[2]

int32_t GPS_home[2]

uint8_t GPS_numSat

int32_t GPS_poi[2]

int32_t GPS_prev[2]

uint16_t GPS_speed

uint8_t GPS_update = 0

int16_t gyroZero[3] = {0,0,0}

int16_t headFreeModeHold

int16_t i2c_errors_count = 0

imu_t imu

uint16_t intPowerTrigger1

int16_t jump_times = -10

The mission step which is upcoming it equals with the mission_step stored in EEPROM.

int16_t lookupPitchRollRC[5]

uint16_t lookupThrottleRC[11]

int16_t magHold

int16_t motor[8]

int16_t nav[2]

uint8_t NAV_error = 0

uint16_t nav_hold_time

common timer used in navigation (contains the desired stop time in millis()

uint8_t NAV_paused_at = 0

time in seconds to hold position

int16_t nav_rated[2]

uint8_t NAV_state = 0

uint32_t nav_timer_stop = 0

GPS_checkbox items packed into 1 byte for checking GPS mode changes.

uint8_t next_step = 1

int32_t original_altitude

uint16_t previousTime = 0

const uint8_t boxids [] PROGMEM

Initial value:

=
  "ROLL;"
  "PITCH;"
  "YAW;"
  "ALT;"
  "Pos;"
  "PosR;"
  "NavR;"
  "LEVEL;"
  "MAG;"
  "VEL;"

uint8_t prv_gps_modes = 0

int16_t rcCommand[4]

int16_t rcData[RC_CHANS]

uint8_t rcOptions[CHECKBOXITEMS]

int16_t rcSerial[8]

uint8_t rcSerialCount = 0

int16_t servo[8] = {1500,1500,1500,1500,1500,1500,1500,1000}

int16_t sonarAlt

int32_t target_altitude

uint8_t vbatMin = VBATNOMINAL