Subversion Repositories FlightCtrl

#include "externalControl.h"

#include "configuration.h"

#include "controlMixer.h"

ExternalControl_t externalControl;

uint8_t externalControlActive = 0;

void EC_setNeutral(void) {

  // if necessary. From main.c.

  externalControl.config = 0;

  externalControl.pitch = 0;

  externalControl.roll = 0;

  externalControl.yaw = 0;

  externalControl.throttle = 0;

  // From main.c. What does it do??

  externalControl.digital[0] = 0x55;

}

void EC_periodicTaskAndPRYT(int16_t* PRYT) {

  if (externalControlActive) {

    externalControlActive--;

    PRYT[CONTROL_ELEVATOR] += externalControl.pitch * 8;

    PRYT[CONTROL_AILERONS] += externalControl.roll * 8;

    PRYT[CONTROL_THROTTLE] += externalControl.throttle * 8;

    PRYT[CONTROL_RUDDER] += externalControl.yaw * 8;

  }

}

uint8_t EC_getArgument(void) {

  return externalControl.config;

}

uint8_t EC_getCommand(void) {

  return externalControl.free;

}

// not implemented.

int16_t EC_getVariable(uint8_t varNum) {

  return 0;

}

uint8_t EC_getSignalQuality(void) {

  if (externalControlActive > 40)

    // Configured and heard from recently

    return SIGNAL_GOOD;

  if (externalControlActive)

    // Configured and heard from

    return SIGNAL_OK;

  if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128))

    // External control is not even configured.

    return NO_SIGNAL;

  // Configured but expired.

  return SIGNAL_LOST;

}