mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.5 KiB
C
59 lines
1.5 KiB
C
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#ifndef __GLOBAL_DATA_H
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#define __GLOBAL_DATA_H
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#include "param_table.h"
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#define ONBOARD_PARAM_NAME_LENGTH 15
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#define MAX_WAYPOINTS 20
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#define FIRMWARE_VERSION 12 // <-- change on param data struct modifications
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#ifdef __cplusplus
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///
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// global data structure
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// This structure holds all the vehicle parameters.
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// TODO: bring in varibles floating around in ArduPilotMega.pde
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//
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struct global_struct
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{
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// parameters
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uint16_t parameter_i; // parameter index
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uint16_t param_count; // number of params
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// waypoints
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uint16_t waypoint_request_i; // request index
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uint16_t waypoint_dest_sysid; // where to send requests
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uint16_t waypoint_dest_compid; // "
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bool waypoint_sending; // currently in send process
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bool waypoint_receiving; // currently receiving
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uint16_t waypoint_count;
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uint32_t waypoint_timelast_send; // milliseconds
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uint32_t waypoint_timelast_receive; // milliseconds
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uint16_t waypoint_send_timeout; // milliseconds
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uint16_t waypoint_receive_timeout; // milliseconds
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float junk; //used to return a junk value for interface
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// data stream rates
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uint16_t streamRateRawSensors;
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uint16_t streamRateExtendedStatus;
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uint16_t streamRateRCChannels;
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uint16_t streamRateRawController;
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uint16_t streamRateRawSensorFusion;
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uint16_t streamRatePosition;
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uint16_t streamRateExtra1;
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uint16_t streamRateExtra2;
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uint16_t streamRateExtra3;
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// struct constructor
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global_struct();
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} global_data;
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extern "C" const char *param_nametab[];
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#endif // __cplusplus
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#endif // __GLOBAL_DATA_H
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