FC-Config.h

Flight controller configuration including PID parameters and system settings.

Structures

PID

typedef struct {
    uint8_t p;    // Proportional gain
    uint8_t i;    // Integral gain
    uint8_t d;    // Derivative gain
} PID;

Enumerations

pid_profile_e

typedef enum {
    PID_ROLL,     // Roll axis PID
    PID_PITCH,    // Pitch axis PID
    PID_YAW,      // Yaw axis PID
    PID_ALT,      // Altitude PID
    PID_USER      // User-defined PID
} pid_profile_e;

failsafe_e

typedef enum {
    LOW_BATTERY,          // Low battery failsafe
    INFLIGHT_LOW_BATTERY, // In-flight low battery failsafe
    CRASH,                // Crash detection failsafe
    ALL                   // All failsafes
} failsafe_e;

Functions

void setUserLoopFrequency(float frequency)

Sets main control loop frequency (3.5-2000 Hz).

void get_PIDProfile(pid_profile_e PROFILE, PID *pid)

Retrieves PID gains for specified profile.

void set_PIDProfile(pid_profile_e PROFILE, PID *pid)

Updates PID gains for specified profile.

void setDefault_PIDProfile(void)

Resets all PID profiles to default values.

Angle Control

• int32_t getDesiredAngle(angle_e ANGLE) - Get desired angle
• void setDesiredAngle(angle_e ANGLE, int32_t angle) - Set desired angle
• int32_t getDesiredRate(angle_e ANGLE) - Get desired rate
• void setDesiredRate(angle_e ANGLE, int32_t rate) - Set desired rate

Position Control

• int32_t getDesiredPositions(axis_e AXIS) - Get desired position
• void setDesiredPosition(axis_e AXIS, int32_t position) - Set desired position
• void DesiredPosition_setRelative(axis_e AXIS, int32_t position) - Set relative position

Failsafe Control

• void Failsafe_enable(failsafe_e FAILSAFE) - Enable failsafe
• void Failsafe_disable(failsafe_e FAILSAFE) - Disable failsafe

Usage Example

// Set loop frequency
setUserLoopFrequency(100.0);

// Configure PID
PID rollPID = {50, 25, 15};
set_PIDProfile(PID_ROLL, &rollPID);

// Set desired angles
setDesiredAngle(AG_ROLL, 150);  // 15 degrees
setDesiredAngle(AG_PITCH, -100); // -10 degrees

// Enable failsafes
Failsafe_enable(LOW_BATTERY);