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