fc_state_t Struct Reference

published state (AppTask builds FLIGHT / MOTORS from it) More...

#include <fc_core.h>

Data Fields
uint8_t	armed
uint8_t	mode
uint8_t	autom
uint8_t	failsafe
uint8_t	input
uint8_t	in_air
uint8_t	rc_stale
	RC older than FC_RC_STALE_MS: neutral sticks in use.
uint8_t	fs_long
	the long app-link action fired
uint16_t	flight_time_s
uint8_t	motor_out_pct [8]
uint8_t	test_motor
	motor under test (1..n), 0 none
uint8_t	landed
	touched down after a flight (until disarm)
uint8_t	geofence
	a limit is active
uint8_t	batt_level
	last level signalled by the BattTask
uint8_t	batt_stale
	BattTask silent: battery state unknown
int32_t	alt_rel_cm
	above the take-off point
int16_t	vz_cms
uint32_t	silence_ms
	app link silence seen by the failsafe
float	stick [4]
	setpoint inputs -1..1: thr, yaw, pitch, roll

Detailed Description

published state (AppTask builds FLIGHT / MOTORS from it)

Definition at line 85 of file fc_core.h.

Field Documentation

armed

uint8_t fc_state_t::armed

Definition at line 86 of file fc_core.h.

Referenced by armed_now(), batt_task_step(), log_task_step(), publish(), and send_flight().

mode

uint8_t fc_state_t::mode

Definition at line 86 of file fc_core.h.

Referenced by build_checks(), publish(), and send_flight().

autom

uint8_t fc_state_t::autom

Definition at line 86 of file fc_core.h.

Referenced by publish(), and send_flight().

failsafe

uint8_t fc_state_t::failsafe

Definition at line 86 of file fc_core.h.

Referenced by publish(), and send_flight().

input

uint8_t fc_state_t::input

Definition at line 86 of file fc_core.h.

Referenced by publish(), and send_flight().

in_air

uint8_t fc_state_t::in_air

Definition at line 86 of file fc_core.h.

Referenced by build_checks(), publish(), and send_flight().

rc_stale

uint8_t fc_state_t::rc_stale

RC older than FC_RC_STALE_MS: neutral sticks in use.

Definition at line 87 of file fc_core.h.

Referenced by build_checks(), and publish().

fs_long

uint8_t fc_state_t::fs_long

the long app-link action fired

Definition at line 88 of file fc_core.h.

Referenced by publish().

flight_time_s

uint16_t fc_state_t::flight_time_s

Definition at line 89 of file fc_core.h.

Referenced by publish(), and send_flight().

motor_out_pct

uint8_t fc_state_t::motor_out_pct[8]

Definition at line 90 of file fc_core.h.

Referenced by publish(), and send_motors().

test_motor

uint8_t fc_state_t::test_motor

motor under test (1..n), 0 none

Definition at line 91 of file fc_core.h.

Referenced by publish().

landed

uint8_t fc_state_t::landed

touched down after a flight (until disarm)

Definition at line 92 of file fc_core.h.

Referenced by publish(), and send_flight().

geofence

uint8_t fc_state_t::geofence

a limit is active

Definition at line 93 of file fc_core.h.

Referenced by publish().

batt_level

uint8_t fc_state_t::batt_level

last level signalled by the BattTask

Definition at line 94 of file fc_core.h.

Referenced by build_checks(), and publish().

batt_stale

uint8_t fc_state_t::batt_stale

BattTask silent: battery state unknown

Definition at line 95 of file fc_core.h.

Referenced by build_checks(), and publish().

alt_rel_cm

int32_t fc_state_t::alt_rel_cm

above the take-off point

Definition at line 96 of file fc_core.h.

Referenced by publish(), and send_flight().

vz_cms

int16_t fc_state_t::vz_cms

Definition at line 97 of file fc_core.h.

Referenced by publish(), and send_flight().

silence_ms

uint32_t fc_state_t::silence_ms

app link silence seen by the failsafe

Definition at line 98 of file fc_core.h.

Referenced by build_checks(), and publish().

stick

float fc_state_t::stick[4]

setpoint inputs -1..1: thr, yaw, pitch, roll

Definition at line 99 of file fc_core.h.

Referenced by publish().

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The documentation for this struct was generated from the following file:

• control/fc_core.h