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Rev | Author | Line No. | Line |
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1612 | dongfang | 1 | #include <stdlib.h> |
2 | #include "controlMixer.h" |
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3 | #include "rc.h" |
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1775 | - | 4 | #include "heightControl.h" |
1612 | dongfang | 5 | #include "externalControl.h" |
2048 | - | 6 | #include "compassControl.h" |
2055 | - | 7 | #include "failsafeControl.h" |
2039 | - | 8 | #include "naviControl.h" |
1612 | dongfang | 9 | #include "configuration.h" |
2189 | - | 10 | //#include "attitude.h" |
1775 | - | 11 | #include "commands.h" |
2189 | - | 12 | #include "debug.h" |
13 | #include "definitions.h" |
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1612 | dongfang | 14 | |
1908 | - | 15 | // uint16_t maxControl[2] = { 0, 0 }; |
2089 | - | 16 | // uint16_t controlActivity = 0; |
2189 | - | 17 | int16_t controls[4]; |
1612 | dongfang | 18 | |
19 | // Internal variables for reading commands made with an R/C stick. |
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2189 | - | 20 | uint8_t lastCommand; |
1775 | - | 21 | uint8_t lastArgument; |
1612 | dongfang | 22 | |
2189 | - | 23 | uint8_t isCommandRepeated; |
24 | uint8_t controlMixer_didReceiveSignal; |
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1775 | - | 25 | |
1612 | dongfang | 26 | /* |
27 | * This could be expanded to take arguments from ohter sources than the RC |
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28 | * (read: Custom MK RC project) |
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29 | */ |
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30 | uint8_t controlMixer_getArgument(void) { |
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1961 | - | 31 | return lastArgument; |
1612 | dongfang | 32 | } |
33 | |||
34 | /* |
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35 | * This could be expanded to take calibrate / start / stop commands from ohter sources |
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36 | * than the R/C (read: Custom MK R/C project) |
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37 | */ |
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38 | uint8_t controlMixer_getCommand(void) { |
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1961 | - | 39 | return lastCommand; |
1612 | dongfang | 40 | } |
41 | |||
42 | uint8_t controlMixer_isCommandRepeated(void) { |
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1961 | - | 43 | return isCommandRepeated; |
1612 | dongfang | 44 | } |
45 | |||
2189 | - | 46 | /* |
47 | * TODO: This assumes R/C as source. Not necessarily true. |
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48 | */ |
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49 | void controlMixer_updateVariables(void) { |
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50 | uint8_t i; |
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51 | for (i=0; i < VARIABLE_COUNT; i++) { |
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52 | int16_t targetvalue = RC_getVariable(i); |
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53 | if (targetvalue < 0) |
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54 | variables[i] = 0; |
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55 | else if (targetvalue > 255) |
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56 | variables[i] = 255; |
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57 | else variables[i] = targetvalue; |
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58 | } |
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59 | } |
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60 | |||
1775 | - | 61 | void controlMixer_setNeutral() { |
2189 | - | 62 | controlMixer_updateVariables(); |
1961 | - | 63 | EC_setNeutral(); |
64 | HC_setGround(); |
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2055 | - | 65 | FC_setNeutral(); // FC is FailsafeControl, not FlightCtrl. |
2058 | - | 66 | |
67 | // This is to set the home pos in navi. |
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68 | // MKFlags |= MKFLAG_CALIBRATE; |
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1612 | dongfang | 69 | } |
70 | |||
71 | uint8_t controlMixer_getSignalQuality(void) { |
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1961 | - | 72 | uint8_t rcQ = RC_getSignalQuality(); |
73 | uint8_t ecQ = EC_getSignalQuality(); |
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1964 | - | 74 | |
1961 | - | 75 | // This needs not be the only correct solution... |
76 | return rcQ > ecQ ? rcQ : ecQ; |
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1612 | dongfang | 77 | } |
78 | |||
2089 | - | 79 | /* |
1908 | - | 80 | void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) { |
1961 | - | 81 | int16_t tmp = controls[index]; |
82 | controls[index] = newValue; |
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2017 | - | 83 | |
1961 | - | 84 | tmp -= newValue; |
85 | tmp /= 2; |
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86 | tmp = tmp * tmp; |
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87 | // tmp += (newValue >= 0) ? newValue : -newValue; |
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2089 | - | 88 | |
89 | / * |
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1961 | - | 90 | if (controlActivity + (uint16_t)tmp >= controlActivity) |
91 | controlActivity += tmp; |
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92 | else controlActivity = 0xffff; |
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2089 | - | 93 | * / |
2055 | - | 94 | if (controlActivity + (uint16_t)tmp < 0x8000) |
1986 | - | 95 | controlActivity += tmp; |
1908 | - | 96 | } |
97 | |||
98 | #define CADAMPING 10 |
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99 | void dampenControlActivity(void) { |
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1961 | - | 100 | uint32_t tmp = controlActivity; |
101 | tmp *= ((1<<CADAMPING)-1); |
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102 | tmp >>= CADAMPING; |
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103 | controlActivity = tmp; |
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1908 | - | 104 | } |
2089 | - | 105 | */ |
1908 | - | 106 | |
1612 | dongfang | 107 | /* |
2048 | - | 108 | * Update the variables indicating stick position from the sum of R/C, GPS and external control |
109 | * and whatever other controls we invented in the meantime... |
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110 | * Update variables. |
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111 | * Decode commands but do not execute them. |
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1612 | dongfang | 112 | */ |
2048 | - | 113 | |
2039 | - | 114 | void controlMixer_periodicTask(void) { |
2189 | - | 115 | int16_t tempRPTY[4] = { 0, 0, 0, 0 }; |
2053 | - | 116 | |
2049 | - | 117 | // Decode commands. |
118 | uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() |
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119 | : COMMAND_NONE; |
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2073 | - | 120 | |
2049 | - | 121 | uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() |
122 | : COMMAND_NONE; |
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123 | |||
124 | // Update variables ("potis"). |
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125 | if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
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126 | controlMixer_updateVariables(); |
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127 | controlMixer_didReceiveSignal = 1; |
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128 | } else { // Signal is not OK |
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129 | // Could handle switch to emergency flight here. |
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130 | // throttle is handled elsewhere. |
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131 | } |
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132 | |||
133 | if (rcCommand != COMMAND_NONE) { |
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134 | isCommandRepeated = (lastCommand == rcCommand); |
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135 | lastCommand = rcCommand; |
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136 | lastArgument = RC_getArgument(); |
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137 | } else if (ecCommand != COMMAND_NONE) { |
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138 | isCommandRepeated = (lastCommand == ecCommand); |
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139 | lastCommand = ecCommand; |
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140 | lastArgument = EC_getArgument(); |
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2189 | - | 141 | if (ecCommand == COMMAND_GYROCAL) debugOut.digital[0] |= DEBUG_COMMAND; |
142 | if (ecCommand == COMMAND_ACCCAL) debugOut.digital[1] |= DEBUG_COMMAND; |
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2049 | - | 143 | } else { |
144 | // Both sources have no command, or one or both are out. |
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145 | // Just set to false. There is no reason to check if the none-command was repeated anyway. |
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146 | isCommandRepeated = 0; |
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147 | lastCommand = COMMAND_NONE; |
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148 | } |
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1961 | - | 149 | |
2048 | - | 150 | // This will init the values (not just add to them). |
2189 | - | 151 | RC_periodicTaskAndRPTY(tempRPTY); |
2045 | - | 152 | |
2048 | - | 153 | // Add external control to RC |
2189 | - | 154 | EC_periodicTaskAndRPTY(tempRPTY); |
2039 | - | 155 | |
2052 | - | 156 | #ifdef USE_DIRECT_GPS |
2088 | - | 157 | if (staticParams.bitConfig & (CFG_NAVI_ENABLED)) |
2189 | - | 158 | navigation_periodicTaskAndRPTY(tempRPTY); |
2052 | - | 159 | #endif |
2039 | - | 160 | |
2048 | - | 161 | // Add compass control (could also have been before navi, they are independent) |
2189 | - | 162 | // CC_periodicTaskAndRPTY(tempRPTY); |
2048 | - | 163 | |
2189 | - | 164 | FC_periodicTaskAndRPTY(tempRPTY); |
165 | |||
2058 | - | 166 | // This is temporary. There might be some emergency height control also. |
167 | if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) { |
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2055 | - | 168 | // Add height control (could also have been before navi and/or compass, they are independent) |
2189 | - | 169 | HC_periodicTaskAndRPTY(tempRPTY); |
2048 | - | 170 | |
2055 | - | 171 | // Add attitude control (could also have been before navi and/or compass, they are independent) |
2189 | - | 172 | // AC_getRPTY(tempRPTY); |
2055 | - | 173 | } |
174 | |||
2048 | - | 175 | // Commit results to global variable and also measure control activity. |
2189 | - | 176 | controls[CONTROL_ROLL] = tempRPTY[CONTROL_ROLL]; |
177 | controls[CONTROL_PITCH] = tempRPTY[CONTROL_PITCH]; |
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178 | controls[CONTROL_THROTTLE] = tempRPTY[CONTROL_THROTTLE]; |
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179 | controls[CONTROL_YAW] = tempRPTY[CONTROL_YAW]; |
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180 | |||
181 | debugOut.analog[14] =controls[CONTROL_ROLL]; |
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182 | debugOut.analog[15] =controls[CONTROL_PITCH]; |
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1961 | - | 183 | |
1980 | - | 184 | // We can safely do this even with a bad signal - the variables will not have been updated then. |
185 | configuration_applyVariablesToParams(); |
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1964 | - | 186 | } |