| 0,0 → 1,190 |
|---|
| #include <stdlib.h> |
| #include "controlMixer.h" |
| #include "rc.h" |
| #include "attitude.h" |
| #include "externalControl.h" |
| #include "configuration.h" |
| #include "attitude.h" |
| #include "commands.h" |
| #include "output.h" |
| |
| uint16_t maxControl[2] = {0, 0}; |
| uint16_t controlActivity = 0; |
| int16_t control[4] = {0, 0, 0, 0}; |
| int32_t controlIntegrals[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; |
| |
| // MK flags. TODO: Replace by enum. State machine. |
| uint16_t isFlying = 0; |
| volatile uint8_t MKFlags = 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() { |
| //EC_setNeutral(); |
| //HC_setGround(); |
| } |
| |
| /* |
| * Set the potientiometer values to the momentary values of the respective R/C channels. |
| * No slew rate limitation. |
| */ |
| void controlMixer_initVariables(void) { |
| uint8_t i; |
| for (i = 0; i < 8; i++) { |
| variables[i] = RC_getVariable(i); |
| } |
| } |
| |
| /* |
| * 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 < 8; 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 = control[index]; |
| |
| // TODO: Scale by some factor. To be determined. |
| controlIntegrals[index] += tmp * 4; |
| |
| if (controlIntegrals[index] > PITCHROLLOVER180) { |
| controlIntegrals[index] -= PITCHROLLOVER360; |
| } else if (controlIntegrals[index] <= -PITCHROLLOVER180) { |
| controlIntegrals[index] += PITCHROLLOVER360; |
| } |
| |
| control[index] = newValue; |
| tmp -= newValue; |
| tmp = tmp * tmp; |
| // tmp += (newValue >= 0) ? newValue : -newValue; |
| controlActivity += tmp; |
| } |
| |
| #define CADAMPING 10 |
| void dampenControlActivity(void) { |
| int32_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. |
| */ |
| void controlMixer_update(void) { |
| // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| // TODO: If no signal --> zero. |
| uint8_t axis; |
| |
| RC_update(); |
| // EC_update(); |
| // HC_update(); |
| |
| int16_t* RC_EATR = RC_getEATR(); |
| // int16_t* EC_PRTY = EC_getPRTY(); |
| |
| updateControlAndMeasureControlActivity(CONTROL_ELEVATOR, RC_EATR[CONTROL_ELEVATOR] /* + EC_PRTY[CONTROL_PITCH] */); |
| updateControlAndMeasureControlActivity(CONTROL_AILERONS, RC_EATR[CONTROL_AILERONS] /* + EC_PRTY[CONTROL_ROLL] */); |
| updateControlAndMeasureControlActivity(CONTROL_RUDDER, RC_EATR[CONTROL_RUDDER] /* + EC_PRTY[CONTROL_YAW] */); |
| dampenControlActivity(); |
| |
| // Do we also want to have activity measurement on throttle? |
| control[CONTROL_THROTTLE] = RC_EATR[CONTROL_THROTTLE]; // + EC_PRTY[CONTROL_THROTTLE]); |
| |
| if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
| controlMixer_updateVariables(); |
| configuration_staticToDynamic(); |
| } else { // Signal is not OK |
| // Could handle switch to emergency flight here. |
| // throttle is handled elsewhere. |
| } |
| |
| // part1a end. |
| |
| /* This is not really necessary with the dead-band feature on all sticks (see rc.c) |
| if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
| if (controlYaw > 2) controlYaw-= 2; |
| else if (controlYaw< -2) controlYaw += 2; |
| else controlYaw = 0; |
| } |
| */ |
| |
| /* |
| * Record maxima |
| */ |
| for (axis = PITCH; axis <= ROLL; axis++) { |
| if (abs(control[axis]) > maxControl[axis]) { |
| maxControl[axis] = abs(control[axis]); |
| if (maxControl[axis] > 100) |
| maxControl[axis] = 100; |
| } else if (maxControl[axis]) |
| maxControl[axis]--; |
| } |
| |
| uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE; |
| // uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() : COMMAND_NONE; |
| |
| 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; |
| } |
| } |
| |
| // TODO: Integrate into command system. |
| uint8_t controlMixer_testCompassCalState(void) { |
| return RC_testCompassCalState(); |
| } |