Diff: struct.h
- Revision:
- 0:d463d5c04541
diff -r 000000000000 -r d463d5c04541 struct.h
--- /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;
+