Diff: struct.h

Revision:

0:d463d5c04541

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/struct.h	Tue Aug 16 05:32:33 2011 +0000
@@ -0,0 +1,97 @@
+
+typedef struct _fcc_data {
+
+    unsigned short US;  //2
+    unsigned short IR1;          //2
+    unsigned short IR2;         //2
+    unsigned short IR3;         //2
+    unsigned short IR4;         //2
+    unsigned short bat;   //2
+    char state_flag;    //1
+    float roll, pitch, yaw;    // 4, 4, 4
+    float g_roll, g_pitch, g_yaw;  //4, 4, 4
+    float acc_x, acc_y, acc_z;   //4, 4 ,4
+
+}FCC_DATA;
+FCC_DATA fcc;
+
+typedef struct _imu{
+    char *roll, *pitch, *yaw, *g_roll, *g_pitch, *g_yaw, *acc_x, *acc_y, *acc_z;
+}data_IMU;
+data_IMU data;
+
+typedef struct _ahrs {
+
+    short packet;  //2
+    unsigned char data_info;  //1
+    float g_roll, g_pitch, g_yaw;  //4, 4, 4
+    float acc_x, acc_y, acc_z;   //4, 4 ,4
+    float roll, pitch, yaw;    // 4, 4, 4
+
+}AHRS_DATA;
+AHRS_DATA IMU;
+
+
+typedef struct _gps {
+    float lat, lon, alti, dist, bear;
+}GPS_DATA;
+GPS_DATA gps;
+
+typedef struct _rc {
+    short roll, throttle, pitch, yaw, sw;
+    short rolls, throttles, pitchs, yaws, sws;
+} RC_DATA;
+RC_DATA RC;    
+
+typedef struct _last{
+    float roll, pitch, yaw;    // 4, 4, 4
+    float g_roll, g_pitch, g_yaw;  //4, 4, 4
+    float acc_x, acc_y, acc_z;   //4, 4 ,4
+} LAST_IMU;
+LAST_IMU last;
+
+typedef struct _gainRoll{
+    float p, i, d, r;
+}GAIN_ROLL;
+GAIN_ROLL gainRoll;
+
+typedef struct _gainPitch{
+    float p, i, d, r;
+}GAIN_PITCH;
+GAIN_PITCH gainPitch;
+
+typedef struct _gainYaw{
+    float p, i, d, r;
+}GAIN_YAW;
+GAIN_YAW gainYaw;
+
+typedef struct _gainAlti{
+    float p, i, d, r;
+}GAIN_ALTI;
+GAIN_ALTI gainAlti;
+
+
+//======== PID Struct =====/
+typedef struct GAIN_GET
+{
+     char Index, flight_mode, sensor_select; //3
+     float p_gain, i_gain, d_gain, goal; //4, 4, 4, 4
+     char dumm; //1 -dummy
+}PID_GAIN; 
+PID_GAIN PID;    
+
+
+//======== F_MODE Struct =====/
+typedef struct F_MODE_GET
+{    
+     unsigned short mode;
+     ///char lock, mode, mission; //1, 1, 1
+    // unsigned short heading_ref; //2
+    // unsigned short alti_ref; //2
+   ///  unsigned short y_trim; //2
+    /// unsigned short r_trim; //2
+   ///  unsigned short p_trim; //2    
+     //char dumm; //1 -dummy 
+}F_MODE_DATA; 
+F_MODE_DATA FMD;
+