-
Notifications
You must be signed in to change notification settings - Fork 0
/
stabilizer.h
37 lines (36 loc) · 1.66 KB
/
stabilizer.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
/*============================================================================*
* O O __ ______ __ *
* \ / /\ / /_ _ __ / /___/ / /_ _ *
* [+] / \/ / \\ //__ / /__ / /____ / / \\ // *
* / \ / /\ / \\__// --/ /---/ /----// / \\_// *
* O O /_/ \/ \__/ \_\/ /_/ /_/ ____/_/ *
* *
* *
* Multi-Rotor controller firmware for Nuvoton Cortex M4 series *
* *
* Written by by T.L. Shen for Nuvoton Technology. *
* tlshen@nuvoton.com/tzulan611126@gmail.com *
* *
*============================================================================*
*/
#ifndef STABILIZER_H_
#define STABILIZER_H_
#include <stdint.h>
void stabilizer(void);
void stabilizerInit(void);
void GetMotorPower(int16_t* MotorPower);
char GetFlip(void);
void ClearFlip(void);
float GetAccWZ(void);
void GetvSpeed(float* speed);
void SetvSpeed(float speed);
float deadband(float value, const float threshold);
uint16_t limitThrust(int32_t value);
float GetactuatorThrust(void);
void HoldHead(void);
void HoldHeadFree(void);
bool getMagMode(void);
bool getHeadFreeMode(void);
bool isArmMinThrottle(void);
bool IsMotorSpin(void);
#endif /* STABILIZER_H_ */