| 1,15 → 1,16 |
|---|
| #include "externalControl.h" |
| #include "configuration.h" |
| #include "controlMixer.h" |
| //#include "controlMixer.h" |
| #include "definitions.h" |
| |
| ExternalControl_t externalControl; |
| uint8_t externalControlActive = 0; |
| // int16_t EC_PRTY[4]; |
| volatile uint8_t externalControlActive; |
| // TODO: Who is going to call this |
| |
| void EC_setNeutral(void) { |
| // if necessary. From main.c. |
| externalControl.config = 0; |
| externalControl.command = 0; |
| externalControl.argument = 0; |
| externalControl.pitch = 0; |
| externalControl.roll = 0; |
| externalControl.yaw = 0; |
| 19,22 → 20,22 |
|---|
| externalControl.digital[0] = 0x55; |
| } |
| |
| void EC_periodicTaskAndPRTY(int16_t* PRTY) { |
| void EC_periodicTaskAndRPTY(int16_t* RPTY) { |
| if (externalControlActive) { |
| externalControlActive--; |
| PRTY[CONTROL_PITCH] += externalControl.pitch * (int16_t) staticParams.stickP; |
| PRTY[CONTROL_ROLL] += externalControl.roll * (int16_t) staticParams.stickP; |
| PRTY[CONTROL_THROTTLE] += externalControl.throttle; |
| PRTY[CONTROL_YAW] += externalControl.yaw; // No stickP or similar?????? |
| RPTY[CONTROL_PITCH] += externalControl.pitch * (int16_t) staticParams.stickP; |
| RPTY[CONTROL_ROLL] += externalControl.roll * (int16_t) staticParams.stickP; |
| RPTY[CONTROL_THROTTLE] += externalControl.throttle; |
| RPTY[CONTROL_YAW] += externalControl.yaw; // No stickP or similar?????? |
| } |
| } |
| |
| uint8_t EC_getArgument(void) { |
| return externalControl.config; |
| return externalControl.argument; |
| } |
| |
| uint8_t EC_getCommand(void) { |
| return externalControl.free; |
| return externalControl.command; |
| } |
| |
| // not implemented. |
| 51,7 → 52,7 |
|---|
| // Configured and heard from |
| return SIGNAL_OK; |
| |
| if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128)) |
| if (dynamicParams.externalControl < 128) |
| // External control is not even configured. |
| return NO_SIGNAL; |
| |