File content as of revision 0:d463d5c04541:
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;