| 0,0 → 1,67 |
|---|
| #include "controlMixer.h" |
| #include "timer0.h" |
| #include "configuration.h" |
| #include "twimaster.h" |
| #include "flight.h" |
| #include "output.h" |
| |
| uint16_t emergencyFlightTime; |
| |
| void setFailsafeFlightParameters(void) { |
| flight_setParameters(0, 90, 120, 90, 120); |
| } |
| |
| void setNormalFlightParameters(void) { |
| flight_setParameters(staticParams.IFactor, dynamicParams.gyroP, |
| staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
| dynamicParams.gyroP, staticParams.yawIFactor); |
| } |
| |
| void FC_setNeutral(void) { |
| setNormalFlightParameters(); |
| } |
| |
| void FC_periodicTaskAndPRTY(uint16_t* PRTY) { |
| if (controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
| if (controlMixer_didReceiveSignal) |
| beepRCAlarm(); // Only make alarm if a control signal was received before the signal loss. |
| |
| // There are the possibilities: We are not yet in emergency flight, we are already in emergency flight. |
| if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) { |
| if (isFlying > 256) { |
| MKFlags |= MKFLAG_EMERGENCY_FLIGHT; // Set flag for emergency landing |
| setFailsafeFlightParameters(); |
| // Set the time in whole seconds. |
| if (staticParams.emergencyFlightDuration > (65535 - F_MAINLOOP) / F_MAINLOOP) |
| emergencyFlightTime = 0xffff; |
| else |
| emergencyFlightTime = (uint16_t) staticParams.emergencyFlightDuration * F_MAINLOOP; |
| } |
| } else { |
| if (emergencyFlightTime) { |
| emergencyFlightTime--; |
| } else { |
| // stop motors but stay in emergency flight. |
| MKFlags &= ~(MKFLAG_MOTOR_RUN); |
| } |
| } |
| |
| // In either case, use e. throttle. |
| PRTY[CONTROL_THROTTLE] = staticParams.emergencyThrottle; // Set emergency throttle |
| } else { |
| // Signal is OK. |
| if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
| MKFlags &= ~MKFLAG_EMERGENCY_FLIGHT; // Clear flag for emergency landing |
| setNormalFlightParameters(); |
| } |
| } |
| |
| /* |
| * If a Bl-Ctrl is missing, prevent takeoff. |
| */ |
| if (missingMotor) { |
| // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
| if (isFlying > 1 && isFlying < 50 && PRTY[CONTROL_THROTTLE] > 0) isFlying = 1; // keep within lift off condition |
| PRTY[CONTROL_THROTTLE] = staticParams.minThrottle; // reduce throttle to min to prevent takeoff |
| } |
| } |