DJI NAZA-M controller (multi copter side) see: https://developer.mbed.org/users/okini3939/notebook/drone/
Dependencies: FutabaSBUS NECnfc mbed
drone.h
- Committer:
- okini3939
- Date:
- 2016-05-19
- Revision:
- 0:4a37291f07ca
File content as of revision 0:4a37291f07ca:
#define DATA_TYPE_AIR 1 #define DATA_TYPE_GROUND 2 struct AirData { uint8_t magic[4]; int16_t seq; int16_t type; int16_t aileron; // Right stick/L-R int16_t elevator; // Left stick/D-U int16_t throttle; // Right stick/D-U int16_t rudder; // Left stick/L-R int16_t analog1; int16_t analog2; int16_t sw1; int16_t sw2; int16_t flags; uint8_t sum; } __attribute__((packed)); struct GroundData { uint8_t magic[4]; int16_t seq; int16_t type; int16_t uptime; int16_t battery; int16_t current; int32_t amphour; int16_t distance1, distance2; uint8_t gps[60]; uint8_t compass[10]; uint8_t sum; } __attribute__((packed)); struct Status { int gps_date, gps_time, gps_lat, gps_lng, gps_h; int gps_sat, gps_type, gps_flg, gps_lost; int compass_x, compass_y, compass_z, compass; int uptime, battery, current, amphour; int distance1, distance2; int current_sum, current_count; }; void recvRf (struct AirData *recv_data, int rssi); int sendRf (struct GroundData *send_data); void pollRf (); int initRf (); void initCan (); void setFailsafeSBus (int flg); void setSBus (int ch, int num); void initSBus (); void initI2c (); void pollI2c (); int sendI2c (struct GroundData *send_data);