struct.h

00001 
00002 typedef struct _fcc_data {
00003 
00004     unsigned short US;  //2
00005     unsigned short IR1;          //2
00006     unsigned short IR2;         //2
00007     unsigned short IR3;         //2
00008     unsigned short IR4;         //2
00009     unsigned short bat;   //2
00010     char state_flag;    //1
00011     float roll, pitch, yaw;    // 4, 4, 4
00012     float g_roll, g_pitch, g_yaw;  //4, 4, 4
00013     float acc_x, acc_y, acc_z;   //4, 4 ,4
00014 
00015 }FCC_DATA;
00016 FCC_DATA fcc;
00017 
00018 typedef struct _imu{
00019     char *roll, *pitch, *yaw, *g_roll, *g_pitch, *g_yaw, *acc_x, *acc_y, *acc_z;
00020 }data_IMU;
00021 data_IMU data;
00022 
00023 typedef struct _ahrs {
00024 
00025     short packet;  //2
00026     unsigned char data_info;  //1
00027     float g_roll, g_pitch, g_yaw;  //4, 4, 4
00028     float acc_x, acc_y, acc_z;   //4, 4 ,4
00029     float roll, pitch, yaw;    // 4, 4, 4
00030 
00031 }AHRS_DATA;
00032 AHRS_DATA IMU;
00033 
00034 
00035 typedef struct _gps {
00036     float lat, lon, alti, dist, bear;
00037 }GPS_DATA;
00038 GPS_DATA gps;
00039 
00040 typedef struct _rc {
00041     short roll, throttle, pitch, yaw, sw;
00042     short rolls, throttles, pitchs, yaws, sws;
00043 } RC_DATA;
00044 RC_DATA RC;    
00045 
00046 typedef struct _last{
00047     float roll, pitch, yaw;    // 4, 4, 4
00048     float g_roll, g_pitch, g_yaw;  //4, 4, 4
00049     float acc_x, acc_y, acc_z;   //4, 4 ,4
00050 } LAST_IMU;
00051 LAST_IMU last;
00052 
00053 typedef struct _gainRoll{
00054     float p, i, d, r;
00055 }GAIN_ROLL;
00056 GAIN_ROLL gainRoll;
00057 
00058 typedef struct _gainPitch{
00059     float p, i, d, r;
00060 }GAIN_PITCH;
00061 GAIN_PITCH gainPitch;
00062 
00063 typedef struct _gainYaw{
00064     float p, i, d, r;
00065 }GAIN_YAW;
00066 GAIN_YAW gainYaw;
00067 
00068 typedef struct _gainAlti{
00069     float p, i, d, r;
00070 }GAIN_ALTI;
00071 GAIN_ALTI gainAlti;
00072 
00073 
00074 //======== PID Struct =====/
00075 typedef struct GAIN_GET
00076 {
00077      char Index, flight_mode, sensor_select; //3
00078      float p_gain, i_gain, d_gain, goal; //4, 4, 4, 4
00079      char dumm; //1 -dummy
00080 }PID_GAIN; 
00081 PID_GAIN PID;    
00082 
00083 
00084 //======== F_MODE Struct =====/
00085 typedef struct F_MODE_GET
00086 {    
00087      unsigned short mode;
00088      ///char lock, mode, mission; //1, 1, 1
00089     // unsigned short heading_ref; //2
00090     // unsigned short alti_ref; //2
00091    ///  unsigned short y_trim; //2
00092     /// unsigned short r_trim; //2
00093    ///  unsigned short p_trim; //2    
00094      //char dumm; //1 -dummy 
00095 }F_MODE_DATA; 
00096 F_MODE_DATA FMD;
00097