Snapshot of the controller, published once per control pass. More...

Public Attributes
ControlMode	mode = ControlMode::Ai
	Current operating mode.

uint8_t	cal_points = 0
	Calibration points recorded so far (0-2).

aiming::CalState	cal_state = aiming::CalState::Idle
	Calibration state machine state.

bool	calibrated = false
	true once a saved or fresh calibration is active.

aiming::Angles	angles
	Current turret pose in degrees.

const char *	cal_failure = nullptr
	Static failure text, or null.

uint32_t	aims = 0
	Aim commands sent to the turret since boot.

uint32_t	cal_saves = 0
	Successful calibrations since boot (a counter, so a polling HUD never misses one).

uint32_t	cal_miss = 0
	Calibration records ignored because no target was visible (button or HUD).

bool	stick = false
	The physical joystick is deflected and overriding the HUD jog.

int16_t	aim_x = 0
	Aim pixel: AimMap inverse of the current pose, rounded, not clamped (may be off-frame).

int16_t	aim_y = 0

uint8_t	lim = 0
	Soft-limit bits from aiming::limit_bits(): 1 pan min, 2 pan max, 4 tilt min, 8 tilt max.

int16_t	rx0 = 0
	Reachable box in pixels (aiming::reach_box()): the region whose aim is inside the limits.

int16_t	ry0 = 0

int16_t	rx1 = 0

int16_t	ry1 = 0

uint32_t	home_ms = 0
	Milliseconds until the AI return-home fires; 0 when none is pending or not in Ai mode.

bool	returning = false
	The turret is travelling home after a Home command (more than 1 degree from home).

uint8_t	speed = 1
	HUD jog speed setting: 0 slow, 1 normal, 2 fast.

Detailed Description

Snapshot of the controller, published once per control pass.

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

Public Attributes