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typedef struct _fcc_data {
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unsigned short US; //2
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unsigned short IR1; //2
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unsigned short IR2; //2
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unsigned short IR3; //2
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unsigned short IR4; //2
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unsigned short bat; //2
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char state_flag; //1
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float roll, pitch, yaw; // 4, 4, 4
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float g_roll, g_pitch, g_yaw; //4, 4, 4
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float acc_x, acc_y, acc_z; //4, 4 ,4
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}FCC_DATA;
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FCC_DATA fcc;
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typedef struct _imu{
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char *roll, *pitch, *yaw, *g_roll, *g_pitch, *g_yaw, *acc_x, *acc_y, *acc_z;
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}data_IMU;
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data_IMU data;
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typedef struct _ahrs {
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short packet; //2
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unsigned char data_info; //1
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float g_roll, g_pitch, g_yaw; //4, 4, 4
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float acc_x, acc_y, acc_z; //4, 4 ,4
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float roll, pitch, yaw; // 4, 4, 4
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}AHRS_DATA;
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AHRS_DATA IMU;
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typedef struct _gps {
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float lat, lon, alti, dist, bear;
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}GPS_DATA;
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GPS_DATA gps;
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typedef struct _rc {
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short roll, throttle, pitch, yaw, sw;
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short rolls, throttles, pitchs, yaws, sws;
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} RC_DATA;
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RC_DATA RC;
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typedef struct _last{
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float roll, pitch, yaw; // 4, 4, 4
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float g_roll, g_pitch, g_yaw; //4, 4, 4
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float acc_x, acc_y, acc_z; //4, 4 ,4
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} LAST_IMU;
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LAST_IMU last;
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typedef struct _gainRoll{
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float p, i, d, r;
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}GAIN_ROLL;
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GAIN_ROLL gainRoll;
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typedef struct _gainPitch{
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float p, i, d, r;
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}GAIN_PITCH;
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GAIN_PITCH gainPitch;
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typedef struct _gainYaw{
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float p, i, d, r;
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}GAIN_YAW;
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GAIN_YAW gainYaw;
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typedef struct _gainAlti{
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float p, i, d, r;
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}GAIN_ALTI;
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GAIN_ALTI gainAlti;
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//======== PID Struct =====/
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typedef struct GAIN_GET
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{
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char Index, flight_mode, sensor_select; //3
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float p_gain, i_gain, d_gain, goal; //4, 4, 4, 4
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char dumm; //1 -dummy
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}PID_GAIN;
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PID_GAIN PID;
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//======== F_MODE Struct =====/
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typedef struct F_MODE_GET
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{
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unsigned short mode;
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///char lock, mode, mission; //1, 1, 1
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// unsigned short heading_ref; //2
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// unsigned short alti_ref; //2
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/// unsigned short y_trim; //2
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/// unsigned short r_trim; //2
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/// unsigned short p_trim; //2
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//char dumm; //1 -dummy
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}F_MODE_DATA;
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F_MODE_DATA FMD;
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