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/**
* || ____ _ __ ______
* +------+ / __ )(_) /_/ ____/_________ _____ ___
* | 0xBC | / __ / / __/ / / ___/ __ `/_ / / _ \
* +------+ / /_/ / / /_/ /___ / / / /_/ / / /_/ __/
* || || /_____/_/\__/\____//_/ \__,_/ /___/\___/
*
* Crazyflie control firmware
*
* Copyright (C) 2011-2012 Bitcraze AB
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, in version 3.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef COMMANDER_H_
#define COMMANDER_H_
#include <stdint.h>
#include <stdbool.h>
#include "config.h"
#include "stabilizer_types.h"
#define DEFAULT_YAW_MODE XMODE
#define COMMANDER_WDT_TIMEOUT_STABILIZE M2T(500)
#define COMMANDER_WDT_TIMEOUT_SHUTDOWN M2T(2000)
#define COMMANDER_PRIORITY_DISABLE 0
#define COMMANDER_PRIORITY_CRTP 1
#define COMMANDER_PRIORITY_EXTRX 2
void commanderInit(void);
bool commanderTest(void);
uint32_t commanderGetInactivityTime(void);
void commanderSetSetpoint(setpoint_t *setpoint, int priority);
int commanderGetActivePriority(void);
void commanderGetSetpoint(setpoint_t *setpoint, const state_t *state);
#endif /* COMMANDER_H_ */
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