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Dependencies: mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS
Global.h
00001 #include "mbed.h" 00002 00003 #ifndef GLOBAL_H 00004 #define GLOBAL_H 00005 00006 #define DEBUG(...) printf(__VA_ARGS__) 00007 //#define DEBUG(a) (void)0 00008 00009 00010 #define MOTORS_ENABLED 00011 00012 #define MOD(a) ((a > 180.0) ? (a - 360.0) : ((a < -180.0) ? (a + 360.0) : a)) 00013 #define PI 3.14159265 00014 00015 #define IMU_YAW_ANGLE_MAX 180 00016 #define IMU_YAW_ANGLE_MIN -180 00017 #define IMU_ROLL_ANGLE_MAX 90 00018 #define IMU_ROLL_ANGLE_MIN -90 00019 #define IMU_PITCH_ANGLE_MAX 90 00020 #define IMU_PITCH_ANGLE_MIN -90 00021 #define IMU_YAW_RATE_MAX 360 00022 #define IMU_YAW_RATE_MIN -360 00023 #define IMU_ROLL_RATE_MAX 360 00024 #define IMU_ROLL_RATE_MIN -360 00025 #define IMU_PITCH_RATE_MAX 360 00026 #define IMU_PITCH_RATE_MIN -360 00027 00028 #define RC_CHANNELS 8 00029 #define RC_THROTTLE_CHANNEL 3 00030 #define RC_IN_MAX 1900 00031 #define RC_IN_MIN 1000 00032 #define RC_OUT_MAX 1 00033 #define RC_OUT_MIN 0 00034 #define RC_YAW_RATE_MAX 180 00035 #define RC_YAW_RATE_MIN -180 00036 #define RC_ROLL_RATE_MAX 90 00037 #define RC_ROLL_RATE_MIN -90 00038 #define RC_PITCH_RATE_MAX 90 00039 #define RC_PITCH_RATE_MIN -90 00040 #define RC_ROLL_ANGLE_MAX 45 00041 #define RC_ROLL_ANGLE_MIN -45 00042 #define RC_PITCH_ANGLE_MAX 45 00043 #define RC_PITCH_ANGLE_MIN -45 00044 #define RC_THRUST_MAX 1 00045 #define RC_THRUST_MIN 0 00046 #define RC_DEAD_ZONE 0.1 00047 #define RC_HOVER 0.6 00048 00049 #define MOTORS_OFF 0 00050 #define MOTORS_ARMED 1060 00051 #define MOTORS_MIN 1060 00052 #define MOTORS_MAX 1860 00053 00054 #define RATE_PID_CONTROLLER_OUTPUT_MAX 100 00055 #define RATE_PID_CONTROLLER_OUTPUT_MIN -100 00056 00057 #define ALTITUDE_MIN 0 00058 #define ALTITUDE_MAX 1000 00059 #define MAX_CLIMB_RATE 2.5 00060 #define MIN_CLIMB_RATE -2.5 00061 00062 #define FLIGHT_CONTROLLER_FREQUENCY 500 00063 00064 #endif
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