Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

New version of quadcopter software written to OO principles

Dependencies:   mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS

Global/Global.h@3:4823d6750629, 2015-04-24 (annotated)

Committer:
joe4465
Date:
Fri Apr 24 16:50:20 2015 +0000
Revision:
3:4823d6750629
Parent:
2:969dfa4f2436 
Altitude mode working.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joe4465 0:c6a85bb2a827 1 #include "mbed.h"
joe4465 0:c6a85bb2a827 2
joe4465 0:c6a85bb2a827 3 #ifndef GLOBAL_H
joe4465 0:c6a85bb2a827 4 #define GLOBAL_H
joe4465 0:c6a85bb2a827 5
joe4465 3:4823d6750629 6 #define DEBUG(...) printf(__VA_ARGS__)
joe4465 3:4823d6750629 7 //#define DEBUG(a) (void)0
joe4465 3:4823d6750629 8
joe4465 0:c6a85bb2a827 9
joe4465 2:969dfa4f2436 10 #define MOTORS_ENABLED
joe4465 2:969dfa4f2436 11
joe4465 2:969dfa4f2436 12 #define MOD(a) ((a > 180.0) ? (a - 360.0) : ((a < -180.0) ? (a + 360.0) : a))
joe4465 3:4823d6750629 13 #define PI 3.14159265
joe4465 2:969dfa4f2436 14
joe4465 0:c6a85bb2a827 15 #define IMU_YAW_ANGLE_MAX 180
joe4465 0:c6a85bb2a827 16 #define IMU_YAW_ANGLE_MIN -180
joe4465 0:c6a85bb2a827 17 #define IMU_ROLL_ANGLE_MAX 90
joe4465 0:c6a85bb2a827 18 #define IMU_ROLL_ANGLE_MIN -90
joe4465 0:c6a85bb2a827 19 #define IMU_PITCH_ANGLE_MAX 90
joe4465 0:c6a85bb2a827 20 #define IMU_PITCH_ANGLE_MIN -90
joe4465 0:c6a85bb2a827 21 #define IMU_YAW_RATE_MAX 360
joe4465 0:c6a85bb2a827 22 #define IMU_YAW_RATE_MIN -360
joe4465 0:c6a85bb2a827 23 #define IMU_ROLL_RATE_MAX 360
joe4465 0:c6a85bb2a827 24 #define IMU_ROLL_RATE_MIN -360
joe4465 0:c6a85bb2a827 25 #define IMU_PITCH_RATE_MAX 360
joe4465 0:c6a85bb2a827 26 #define IMU_PITCH_RATE_MIN -360
joe4465 0:c6a85bb2a827 27
joe4465 0:c6a85bb2a827 28 #define RC_CHANNELS 8
joe4465 0:c6a85bb2a827 29 #define RC_THROTTLE_CHANNEL 3
joe4465 0:c6a85bb2a827 30 #define RC_IN_MAX 1900
joe4465 0:c6a85bb2a827 31 #define RC_IN_MIN 1000
joe4465 0:c6a85bb2a827 32 #define RC_OUT_MAX 1
joe4465 0:c6a85bb2a827 33 #define RC_OUT_MIN 0
joe4465 0:c6a85bb2a827 34 #define RC_YAW_RATE_MAX 180
joe4465 0:c6a85bb2a827 35 #define RC_YAW_RATE_MIN -180
joe4465 0:c6a85bb2a827 36 #define RC_ROLL_RATE_MAX 90
joe4465 0:c6a85bb2a827 37 #define RC_ROLL_RATE_MIN -90
joe4465 0:c6a85bb2a827 38 #define RC_PITCH_RATE_MAX 90
joe4465 0:c6a85bb2a827 39 #define RC_PITCH_RATE_MIN -90
joe4465 2:969dfa4f2436 40 #define RC_ROLL_ANGLE_MAX 45
joe4465 2:969dfa4f2436 41 #define RC_ROLL_ANGLE_MIN -45
joe4465 2:969dfa4f2436 42 #define RC_PITCH_ANGLE_MAX 45
joe4465 2:969dfa4f2436 43 #define RC_PITCH_ANGLE_MIN -45
joe4465 0:c6a85bb2a827 44 #define RC_THRUST_MAX 1
joe4465 0:c6a85bb2a827 45 #define RC_THRUST_MIN 0
joe4465 2:969dfa4f2436 46 #define RC_DEAD_ZONE 0.1
joe4465 3:4823d6750629 47 #define RC_HOVER 0.6
joe4465 0:c6a85bb2a827 48
joe4465 0:c6a85bb2a827 49 #define MOTORS_OFF 0
joe4465 2:969dfa4f2436 50 #define MOTORS_ARMED 1060
joe4465 0:c6a85bb2a827 51 #define MOTORS_MIN 1060
joe4465 0:c6a85bb2a827 52 #define MOTORS_MAX 1860
joe4465 0:c6a85bb2a827 53
joe4465 0:c6a85bb2a827 54 #define RATE_PID_CONTROLLER_OUTPUT_MAX 100
joe4465 0:c6a85bb2a827 55 #define RATE_PID_CONTROLLER_OUTPUT_MIN -100
joe4465 0:c6a85bb2a827 56
joe4465 2:969dfa4f2436 57 #define ALTITUDE_MIN 0
joe4465 2:969dfa4f2436 58 #define ALTITUDE_MAX 1000
joe4465 3:4823d6750629 59 #define MAX_CLIMB_RATE 2.5
joe4465 3:4823d6750629 60 #define MIN_CLIMB_RATE -2.5
joe4465 2:969dfa4f2436 61
joe4465 0:c6a85bb2a827 62 #define FLIGHT_CONTROLLER_FREQUENCY 500
joe4465 0:c6a85bb2a827 63
joe4465 0:c6a85bb2a827 64 #endif