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| #include <stdlib.h> |
| #include "controlMixer.h" |
| #include "rc.h" |
| #include "externalControl.h" |
| #include "failsafeControl.h" |
| #include "configuration.h" |
| #include "attitude.h" |
| #include "commands.h" |
| #include "output.h" |
| |
| int16_t controls[4] = { 0, 0, 0, 0 }; |
| |
| // Internal variables for reading commands made with an R/C stick. |
| uint8_t lastCommand = COMMAND_NONE; |
| uint8_t lastArgument; |
| |
| uint8_t isCommandRepeated = 0; |
| uint8_t controlMixer_didReceiveSignal = 0; |
| |
| /* |
| * This could be expanded to take arguments from ohter sources than the RC |
| * (read: Custom MK RC project) |
| */ |
| uint8_t controlMixer_getArgument(void) { |
| return lastArgument; |
| } |
| |
| /* |
| * This could be expanded to take calibrate / start / stop commands from ohter sources |
| * than the R/C (read: Custom MK R/C project) |
| */ |
| uint8_t controlMixer_getCommand(void) { |
| return lastCommand; |
| } |
| |
| uint8_t controlMixer_isCommandRepeated(void) { |
| return isCommandRepeated; |
| } |
| |
| void controlMixer_setNeutral() { |
| for (uint8_t i=0; i<VARIABLE_COUNT; i++) { |
| variables[i] = RC_getVariable(i); |
| } |
| EC_setNeutral(); |
| FC_setNeutral(); // FC is FailsafeControl, not FlightCtrl. |
| } |
| |
| /* |
| * Update potentiometer values with limited slew rate. Could be made faster if desired. |
| * TODO: It assumes R/C as source. Not necessarily true. |
| */ |
| void controlMixer_updateVariables(void) { |
| uint8_t i; |
| int16_t targetvalue; |
| for (i=0; i < VARIABLE_COUNT; i++) { |
| targetvalue = RC_getVariable(i); |
| if (targetvalue < 0) |
| targetvalue = 0; |
| if (variables[i] < targetvalue && variables[i] < 255) |
| variables[i]++; |
| else if (variables[i] > 0 && variables[i] > targetvalue) |
| variables[i]--; |
| } |
| } |
| |
| uint8_t controlMixer_getSignalQuality(void) { |
| uint8_t rcQ = RC_getSignalQuality(); |
| uint8_t ecQ = EC_getSignalQuality(); |
| |
| // This needs not be the only correct solution... |
| return rcQ > ecQ ? rcQ : ecQ; |
| } |
| |
| /* |
| void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) { |
| int16_t tmp = controls[index]; |
| controls[index] = newValue; |
| |
| tmp -= newValue; |
| tmp /= 2; |
| tmp = tmp * tmp; |
| // tmp += (newValue >= 0) ? newValue : -newValue; |
| |
| / * |
| if (controlActivity + (uint16_t)tmp >= controlActivity) |
| controlActivity += tmp; |
| else controlActivity = 0xffff; |
| * / |
| if (controlActivity + (uint16_t)tmp < 0x8000) |
| controlActivity += tmp; |
| } |
| |
| #define CADAMPING 10 |
| void dampenControlActivity(void) { |
| uint32_t tmp = controlActivity; |
| tmp *= ((1<<CADAMPING)-1); |
| tmp >>= CADAMPING; |
| controlActivity = tmp; |
| } |
| */ |
| |
| /* |
| * Update the variables indicating stick position from the sum of R/C, GPS and external control |
| * and whatever other controls we invented in the meantime... |
| * Update variables. |
| * Decode commands but do not execute them. |
| */ |
| |
| void controlMixer_periodicTask(void) { |
| int16_t tempPRYT[4] = { 0, 0, 0, 0 }; |
| |
| // Decode commands. |
| uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE; |
| uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() : COMMAND_NONE; |
| |
| // Update variables ("potis"). |
| if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
| controlMixer_updateVariables(); |
| controlMixer_didReceiveSignal = 1; |
| } else { // Signal is not OK |
| // Could handle switch to emergency flight here. |
| // throttle is handled elsewhere. |
| } |
| |
| if (rcCommand != COMMAND_NONE) { |
| isCommandRepeated = (lastCommand == rcCommand); |
| lastCommand = rcCommand; |
| lastArgument = RC_getArgument(); |
| } else if (ecCommand != COMMAND_NONE) { |
| isCommandRepeated = (lastCommand == ecCommand); |
| lastCommand = ecCommand; |
| lastArgument = EC_getArgument(); |
| } else { |
| // Both sources have no command, or one or both are out. |
| // Just set to false. There is no reason to check if the none-command was repeated anyway. |
| isCommandRepeated = 0; |
| lastCommand = COMMAND_NONE; |
| } |
| |
| // This will init the values (not just add to them). |
| RC_periodicTaskAndPRYT(tempPRYT); |
| |
| // Add external control to RC |
| EC_periodicTaskAndPRYT(tempPRYT); |
| |
| FC_periodicTaskAndPRYT(tempPRYT); |
| |
| // Commit results to global variable and also measure control activity. |
| controls[CONTROL_THROTTLE] = tempPRYT[CONTROL_THROTTLE]; |
| controls[CONTROL_ELEVATOR] = tempPRYT[CONTROL_ELEVATOR]; |
| controls[CONTROL_AILERONS] = tempPRYT[CONTROL_AILERONS]; |
| controls[CONTROL_RUDDER] = tempPRYT[CONTROL_RUDDER]; |
| // dampenControlActivity(); |
| |
| // We can safely do this even with a bad signal - the variables will not have been updated then. |
| configuration_applyVariablesToParams(); |
| } |