WebSVN - FlightCtrl - Blame - Rev 2099 - /branches/dongfang_FC

Rev	Author	Line No.	Line
2099	-	1	#include <stdlib.h>
		2	#include "controlMixer.h"
		3	#include "rc.h"
		4	#include "externalControl.h"
		5	#include "failsafeControl.h"
		6	#include "configuration.h"
		7	#include "attitude.h"
		8	#include "commands.h"
		9	#include "output.h"
		10
		11	int16_t controls[4] = { 0, 0, 0, 0 };
		12
		13	// Internal variables for reading commands made with an R/C stick.
		14	uint8_t lastCommand = COMMAND_NONE;
		15	uint8_t lastArgument;
		16
		17	uint8_t isCommandRepeated = 0;
		18	uint8_t controlMixer_didReceiveSignal = 0;
		19
		20	/*
		21	* This could be expanded to take arguments from ohter sources than the RC
		22	* (read: Custom MK RC project)
		23	*/
		24	uint8_t controlMixer_getArgument(void) {
		25	return lastArgument;
		26	}
		27
		28	/*
		29	* This could be expanded to take calibrate / start / stop commands from ohter sources
		30	* than the R/C (read: Custom MK R/C project)
		31	*/
		32	uint8_t controlMixer_getCommand(void) {
		33	return lastCommand;
		34	}
		35
		36	uint8_t controlMixer_isCommandRepeated(void) {
		37	return isCommandRepeated;
		38	}
		39
		40	void controlMixer_setNeutral() {
		41	for (uint8_t i=0; i<VARIABLE_COUNT; i++) {
		42	variables[i] = RC_getVariable(i);
		43	}
		44	EC_setNeutral();
		45	FC_setNeutral(); // FC is FailsafeControl, not FlightCtrl.
		46
		47	// This is to set the home pos in navi.
		48	// MKFlags \|= MKFLAG_CALIBRATE;
		49	}
		50
		51	/*
		52	* Update potentiometer values with limited slew rate. Could be made faster if desired.
		53	* TODO: It assumes R/C as source. Not necessarily true.
		54	*/
		55	void controlMixer_updateVariables(void) {
		56	uint8_t i;
		57	int16_t targetvalue;
		58	for (i=0; i < VARIABLE_COUNT; i++) {
		59	targetvalue = RC_getVariable(i);
		60	if (targetvalue < 0)
		61	targetvalue = 0;
		62	if (variables[i] < targetvalue && variables[i] < 255)
		63	variables[i]++;
		64	else if (variables[i] > 0 && variables[i] > targetvalue)
		65	variables[i]--;
		66	}
		67	}
		68
		69	uint8_t controlMixer_getSignalQuality(void) {
		70	uint8_t rcQ = RC_getSignalQuality();
		71	uint8_t ecQ = EC_getSignalQuality();
		72
		73	// This needs not be the only correct solution...
		74	return rcQ > ecQ ? rcQ : ecQ;
		75	}
		76
		77	/*
		78	void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) {
		79	int16_t tmp = controls[index];
		80	controls[index] = newValue;
		81
		82	tmp -= newValue;
		83	tmp /= 2;
		84	tmp = tmp * tmp;
		85	// tmp += (newValue >= 0) ? newValue : -newValue;
		86
		87	/ *
		88	if (controlActivity + (uint16_t)tmp >= controlActivity)
		89	controlActivity += tmp;
		90	else controlActivity = 0xffff;
		91	* /
		92	if (controlActivity + (uint16_t)tmp < 0x8000)
		93	controlActivity += tmp;
		94	}
		95
		96	#define CADAMPING 10
		97	void dampenControlActivity(void) {
		98	uint32_t tmp = controlActivity;
		99	tmp *= ((1<<CADAMPING)-1);
		100	tmp >>= CADAMPING;
		101	controlActivity = tmp;
		102	}
		103	*/
		104
		105	/*
		106	* Update the variables indicating stick position from the sum of R/C, GPS and external control
		107	* and whatever other controls we invented in the meantime...
		108	* Update variables.
		109	* Decode commands but do not execute them.
		110	*/
		111
		112	void controlMixer_periodicTask(void) {
		113	int16_t tempPRTY[4] = { 0, 0, 0, 0 };
		114
		115	// Decode commands.
		116	uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand()
		117	: COMMAND_NONE;
		118
		119	uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand()
		120	: COMMAND_NONE;
		121
		122	// Update variables ("potis").
		123	if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) {
		124	controlMixer_updateVariables();
		125	controlMixer_didReceiveSignal = 1;
		126	} else { // Signal is not OK
		127	// Could handle switch to emergency flight here.
		128	// throttle is handled elsewhere.
		129	}
		130
		131	if (rcCommand != COMMAND_NONE) {
		132	isCommandRepeated = (lastCommand == rcCommand);
		133	lastCommand = rcCommand;
		134	lastArgument = RC_getArgument();
		135	} else if (ecCommand != COMMAND_NONE) {
		136	isCommandRepeated = (lastCommand == ecCommand);
		137	lastCommand = ecCommand;
		138	lastArgument = EC_getArgument();
		139	} else {
		140	// Both sources have no command, or one or both are out.
		141	// Just set to false. There is no reason to check if the none-command was repeated anyway.
		142	isCommandRepeated = 0;
		143	lastCommand = COMMAND_NONE;
		144	}
		145
		146	// This will init the values (not just add to them).
		147	RC_periodicTaskAndPRTY(tempPRTY);
		148
		149	// Add external control to RC
		150	EC_periodicTaskAndPRTY(tempPRTY);
		151
		152	FC_periodicTaskAndPRTY(tempPRTY);
		153
		154	// Commit results to global variable and also measure control activity.
		155	controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE];
		156	controls[CONTROL_ELEVATOR] = tempPRTY[CONTROL_ELEVATOR];
		157	controls[CONTROL_AILERONS] = tempPRTY[CONTROL_AILERONS];
		158	controls[CONTROL_RUDDER] = tempPRTY[CONTROL_RUDDER];
		159	// dampenControlActivity();
		160
		161	// We can safely do this even with a bad signal - the variables will not have been updated then.
		162	configuration_applyVariablesToParams();
		163	}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/controlMixer.c - Rev 2099