Diff: Global.h

Revision:

0:c6a85bb2a827

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Global.h	Wed Mar 04 18:50:37 2015 +0000
@@ -0,0 +1,56 @@
+#include "mbed.h"
+
+#ifndef GLOBAL_H
+#define GLOBAL_H
+
+#if 1
+  #define DEBUG(a) printf(a)
+#else
+  #define DEBUG(a) (void)0
+#endif
+
+#define             IMU_YAW_ANGLE_MAX 180
+#define             IMU_YAW_ANGLE_MIN -180
+#define             IMU_ROLL_ANGLE_MAX 90
+#define             IMU_ROLL_ANGLE_MIN -90
+#define             IMU_PITCH_ANGLE_MAX 90
+#define             IMU_PITCH_ANGLE_MIN -90
+#define             IMU_YAW_RATE_MAX 360
+#define             IMU_YAW_RATE_MIN -360
+#define             IMU_ROLL_RATE_MAX 360
+#define             IMU_ROLL_RATE_MIN -360
+#define             IMU_PITCH_RATE_MAX 360
+#define             IMU_PITCH_RATE_MIN -360
+
+#define             RC_CHANNELS 8
+#define             RC_THROTTLE_CHANNEL 3
+#define             RC_IN_MAX 1900
+#define             RC_IN_MIN 1000
+#define             RC_OUT_MAX 1
+#define             RC_OUT_MIN 0
+#define             RC_YAW_RATE_MAX 180
+#define             RC_YAW_RATE_MIN -180
+#define             RC_ROLL_RATE_MAX 90
+#define             RC_ROLL_RATE_MIN -90
+#define             RC_PITCH_RATE_MAX 90
+#define             RC_PITCH_RATE_MIN -90
+#define             RC_ROLL_ANGLE_MAX 20
+#define             RC_ROLL_ANGLE_MIN -20
+#define             RC_PITCH_ANGLE_MAX 20
+#define             RC_PITCH_ANGLE_MIN -20
+#define             RC_THRUST_MAX 1
+#define             RC_THRUST_MIN 0
+#define             RC_VELOCITY_MAX 2.5
+#define             RC_VELOCITY_MIN 2.5
+
+#define             MOTORS_OFF 0
+#define             MOTORS_ARMED 1000
+#define             MOTORS_MIN 1060
+#define             MOTORS_MAX 1860
+
+#define             RATE_PID_CONTROLLER_OUTPUT_MAX 100
+#define             RATE_PID_CONTROLLER_OUTPUT_MIN -100
+
+#define             FLIGHT_CONTROLLER_FREQUENCY 500
+
+#endif
\ No newline at end of file