main_fbw.h

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/*
 * Copyright (C) 2015 The Paparazzi Team
 * Copyright (C) 2022 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi.
 *
 * paparazzi 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; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi 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 paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 *
 */
 
#ifndef MAIN_FBW_H
#define MAIN_FBW_H
 
#ifndef RC_LOST_FBW_MODE
#define RC_LOST_FBW_MODE FBW_MODE_AUTO
#endif
 
#ifndef RC_LOST_IN_AUTO_FBW_MODE
#define RC_LOST_IN_AUTO_FBW_MODE FBW_MODE_AUTO
#endif
 
#ifndef AP_LOST_FBW_MODE
#define AP_LOST_FBW_MODE FBW_MODE_FAILSAFE
#endif
 
#ifndef FBW_MODE_AUTO_ONLY
#define FBW_MODE_AUTO_ONLY false
#endif
 
#ifndef RADIO_FBW_MODE
#define RADIO_FBW_MODE RADIO_MODE
#endif
 
#define FBW_MODE_MANUAL   0
#define FBW_MODE_AUTO     1
#define FBW_MODE_FAILSAFE 2
 
#include "std.h"
 
extern uint8_t fbw_mode;
extern bool fbw_motors_on;
 
extern void main_fbw_init(void);
extern void main_fbw_event(void);
extern void main_fbw_periodic(void);
extern void main_fbw_parse_EMERGENCY_CMD(uint8_t *buf);
 
#endif /* MAIN_FBW_H */