#include "Copter.h"

Macros
#define	POSHOLD_SPEED_0 10

#define	POSHOLD_BRAKE_TIME_ESTIMATE_MAX (600*4)

#define	POSHOLD_BRAKE_TO_LOITER_TIMER (150*4)

#define	POSHOLD_WIND_COMP_START_TIMER (150*4)

#define	POSHOLD_CONTROLLER_TO_PILOT_MIX_TIMER (50*4)

#define	POSHOLD_SMOOTH_RATE_FACTOR 0.0125f

#define	POSHOLD_WIND_COMP_TIMER_10HZ 40

#define	LOOP_RATE_FACTOR 4

#define	TC_WIND_COMP 0.0025f

#define	POSHOLD_STICK_RELEASE_SMOOTH_ANGLE 1800

#define	POSHOLD_WIND_COMP_ESTIMATE_SPEED_MAX 10

Enumerations
enum	poshold_rp_mode { POSHOLD_PILOT_OVERRIDE =0, POSHOLD_BRAKE, POSHOLD_BRAKE_READY_TO_LOITER, POSHOLD_BRAKE_TO_LOITER, POSHOLD_LOITER, POSHOLD_CONTROLLER_TO_PILOT_OVERRIDE }

Macro Definition Documentation

◆ LOOP_RATE_FACTOR

#define LOOP_RATE_FACTOR 4

◆ POSHOLD_BRAKE_TIME_ESTIMATE_MAX

#define POSHOLD_BRAKE_TIME_ESTIMATE_MAX (600*4)

◆ POSHOLD_BRAKE_TO_LOITER_TIMER

#define POSHOLD_BRAKE_TO_LOITER_TIMER (150*4)

◆ POSHOLD_CONTROLLER_TO_PILOT_MIX_TIMER

#define POSHOLD_CONTROLLER_TO_PILOT_MIX_TIMER (50*4)

◆ POSHOLD_SMOOTH_RATE_FACTOR

#define POSHOLD_SMOOTH_RATE_FACTOR 0.0125f

◆ POSHOLD_SPEED_0

#define POSHOLD_SPEED_0 10

◆ POSHOLD_STICK_RELEASE_SMOOTH_ANGLE

#define POSHOLD_STICK_RELEASE_SMOOTH_ANGLE 1800

◆ POSHOLD_WIND_COMP_ESTIMATE_SPEED_MAX

#define POSHOLD_WIND_COMP_ESTIMATE_SPEED_MAX 10

◆ POSHOLD_WIND_COMP_START_TIMER

#define POSHOLD_WIND_COMP_START_TIMER (150*4)

◆ POSHOLD_WIND_COMP_TIMER_10HZ

#define POSHOLD_WIND_COMP_TIMER_10HZ 40

◆ TC_WIND_COMP

#define TC_WIND_COMP 0.0025f

Enumeration Type Documentation

◆ poshold_rp_mode

enum poshold_rp_mode

Enumerator
POSHOLD_PILOT_OVERRIDE
POSHOLD_BRAKE
POSHOLD_BRAKE_READY_TO_LOITER
POSHOLD_BRAKE_TO_LOITER
POSHOLD_LOITER
POSHOLD_CONTROLLER_TO_PILOT_OVERRIDE

Variable Documentation

◆ brake_angle_max_pitch

int16_t brake_angle_max_pitch

◆ brake_angle_max_roll

int16_t brake_angle_max_roll

◆ brake_gain

float brake_gain

◆ brake_pitch

int16_t brake_pitch

◆ brake_roll

int16_t brake_roll

◆ brake_timeout_pitch

int16_t brake_timeout_pitch

◆ brake_timeout_roll

int16_t brake_timeout_roll

◆ brake_to_loiter_timer

int16_t brake_to_loiter_timer

◆ braking_time_updated_pitch

uint8_t braking_time_updated_pitch

◆ braking_time_updated_roll

uint8_t braking_time_updated_roll

◆ controller_final_pitch

int16_t controller_final_pitch

◆ controller_final_roll

int16_t controller_final_roll

◆ controller_to_pilot_timer_pitch

int16_t controller_to_pilot_timer_pitch

◆ controller_to_pilot_timer_roll

int16_t controller_to_pilot_timer_roll

◆ pilot_pitch

float pilot_pitch

◆ pilot_roll

float pilot_roll

◆ pitch

int16_t pitch

◆ pitch_mode

poshold_rp_mode pitch_mode

◆ roll

int16_t roll

◆ roll_mode

poshold_rp_mode roll_mode

◆ wind_comp_ef

Vector2f wind_comp_ef

◆ wind_comp_pitch

int16_t wind_comp_pitch

◆ wind_comp_roll

int16_t wind_comp_roll

◆ wind_comp_start_timer

uint16_t wind_comp_start_timer

◆ wind_comp_timer

int8_t wind_comp_timer

Macros

Enumerations