| 5,6 → 5,7 |
|---|
| #include "attitudeControl.h" |
| #include "externalControl.h" |
| #include "compassControl.h" |
| #include "failsafeControl.h" |
| #include "naviControl.h" |
| #include "configuration.h" |
| #include "attitude.h" |
| 44,24 → 45,14 |
|---|
| |
| void controlMixer_setNeutral() { |
| for (uint8_t i=0; i<VARIABLE_COUNT; i++) { |
| variables[i] = 0; |
| variables[i] = RC_getVariable(i); |
| } |
| EC_setNeutral(); |
| HC_setGround(); |
| FC_setNeutral(); // FC is FailsafeControl, not FlightCtrl. |
| } |
| |
| /* |
| * 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 < VARIABLE_COUNT; 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. |
| */ |
| 100,7 → 91,7 |
|---|
| controlActivity += tmp; |
| else controlActivity = 0xffff; |
| */ |
| if (controlActivity + (uint16_t)tmp < 32768) |
| if (controlActivity + (uint16_t)tmp < 0x8000) |
| controlActivity += tmp; |
| } |
| |
| 166,12 → 157,16 |
|---|
| // Add compass control (could also have been before navi, they are independent) |
| CC_periodicTaskAndPRTY(tempPRTY); |
| |
| // Add height control (could also have been before navi and/or compass, they are independent) |
| HC_periodicTaskAndPRTY(tempPRTY); |
| FC_periodicTaskAndPRTY(tempPRTY); |
| |
| // Add attitude control (could also have been before navi and/or compass, they are independent) |
| AC_getPRTY(tempPRTY); |
| if (!MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
| // Add height control (could also have been before navi and/or compass, they are independent) |
| HC_periodicTaskAndPRTY(tempPRTY); |
| |
| // Add attitude control (could also have been before navi and/or compass, they are independent) |
| AC_getPRTY(tempPRTY); |
| } |
| |
| // Commit results to global variable and also measure control activity. |
| controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE]; |
| updateControlAndMeasureControlActivity(CONTROL_PITCH, tempPRTY[CONTROL_PITCH]); |
| 178,8 → 173,7 |
|---|
| updateControlAndMeasureControlActivity(CONTROL_ROLL, tempPRTY[CONTROL_ROLL]); |
| updateControlAndMeasureControlActivity(CONTROL_YAW, tempPRTY[CONTROL_YAW]); |
| dampenControlActivity(); |
| |
| debugOut.analog[17] = controlActivity/10; |
| //debugOut.analog[17] = controlActivity/10; |
| |
| // We can safely do this even with a bad signal - the variables will not have been updated then. |
| configuration_applyVariablesToParams(); |