mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
Christophe De Wagter
50 lines
1.4 KiB
C
50 lines
1.4 KiB
C
/* $Id$
|
|
*
|
|
* (c) 2006 Pascal Brisset, Antoine Drouin
|
|
*
|
|
* This file is part of paparazzi.
|
|
*
|
|
* paparazzi is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 2, or (at your option)
|
|
* any later version.
|
|
*
|
|
* paparazzi is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with paparazzi; see the file COPYING. If not, write to
|
|
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
|
* Boston, MA 02111-1307, USA.
|
|
*
|
|
*/
|
|
|
|
/** \file commands.h
|
|
* \brief Hardware independent code for commands handling
|
|
*
|
|
*/
|
|
|
|
#ifndef COMMANDS_H
|
|
#define COMMANDS_H
|
|
|
|
#include "paparazzi.h"
|
|
#include "generated/airframe.h"
|
|
|
|
extern pprz_t command_roll_trim;
|
|
extern pprz_t command_pitch_trim;
|
|
|
|
extern pprz_t commands[COMMANDS_NB];
|
|
extern const pprz_t commands_failsafe[COMMANDS_NB];
|
|
/** Storage of intermediate command values: these values come from
|
|
the RC (MANUAL mode), from the autopilot (AUTO mode) or from control loops.
|
|
They are asyncronisly used to set the servos */
|
|
|
|
#define SetCommands(t) { \
|
|
int i; \
|
|
for(i = 0; i < COMMANDS_NB; i++) commands[i] = t[i]; \
|
|
}
|
|
|
|
#endif /* COMMANDS_H */
|