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Rev 2053 Rev 2055
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#include "rc.h"
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#include "rc.h"
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#include "heightControl.h"
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#include "heightControl.h"
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#include "attitudeControl.h"
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#include "attitudeControl.h"
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#include "externalControl.h"
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#include "externalControl.h"
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#include "compassControl.h"
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#include "compassControl.h"
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#include "failsafeControl.h"
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#include "naviControl.h"
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#include "naviControl.h"
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#include "configuration.h"
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#include "configuration.h"
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#include "attitude.h"
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#include "attitude.h"
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#include "commands.h"
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#include "commands.h"
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#include "output.h"
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#include "output.h"
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  return isCommandRepeated;
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  return isCommandRepeated;
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}
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}
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void controlMixer_setNeutral() {
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void controlMixer_setNeutral() {
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  for (uint8_t i=0; i<VARIABLE_COUNT; i++) {
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  for (uint8_t i=0; i<VARIABLE_COUNT; i++) {
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    variables[i] = 0;
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    variables[i] = RC_getVariable(i);
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  }
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  }
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  EC_setNeutral();
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  EC_setNeutral();
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  HC_setGround();
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}
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/*
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  HC_setGround();
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 * Set the potientiometer values to the momentary values of the respective R/C channels.
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 * No slew rate limitation.
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 */
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void controlMixer_initVariables(void) {
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  uint8_t i;
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  for (i=0; i < VARIABLE_COUNT; i++) {
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    variables[i] = RC_getVariable(i);
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  }
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  FC_setNeutral();  // FC is FailsafeControl, not FlightCtrl.
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}
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}
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/*
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/*
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  /*
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  /*
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  if (controlActivity + (uint16_t)tmp >= controlActivity)
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  if (controlActivity + (uint16_t)tmp >= controlActivity)
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    controlActivity += tmp;
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    controlActivity += tmp;
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  else controlActivity = 0xffff;
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  else controlActivity = 0xffff;
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  */
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  */
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  if (controlActivity + (uint16_t)tmp < 32768)
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  if (controlActivity + (uint16_t)tmp < 0x8000)
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    controlActivity += tmp;
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    controlActivity += tmp;
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}
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}
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#define CADAMPING 10
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#define CADAMPING 10
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#endif
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#endif
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  // Add compass control (could also have been before navi, they are independent)
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  // Add compass control (could also have been before navi, they are independent)
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  CC_periodicTaskAndPRTY(tempPRTY);
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  CC_periodicTaskAndPRTY(tempPRTY);
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  FC_periodicTaskAndPRTY(tempPRTY);
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  if (!MKFlags & MKFLAG_EMERGENCY_FLIGHT) {
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  // Add height control (could also have been before navi and/or compass, they are independent)
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    // Add height control (could also have been before navi and/or compass, they are independent)
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  HC_periodicTaskAndPRTY(tempPRTY);
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    HC_periodicTaskAndPRTY(tempPRTY);
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    // Add attitude control (could also have been before navi and/or compass, they are independent)
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  // Add attitude control (could also have been before navi and/or compass, they are independent)
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    AC_getPRTY(tempPRTY);
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  AC_getPRTY(tempPRTY);
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  }
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  // Commit results to global variable and also measure control activity.
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  // Commit results to global variable and also measure control activity.
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  controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE];
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  controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE];
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  updateControlAndMeasureControlActivity(CONTROL_PITCH, tempPRTY[CONTROL_PITCH]);
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  updateControlAndMeasureControlActivity(CONTROL_ROLL, tempPRTY[CONTROL_ROLL]);
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  updateControlAndMeasureControlActivity(CONTROL_PITCH, tempPRTY[CONTROL_PITCH]);
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  updateControlAndMeasureControlActivity(CONTROL_YAW, tempPRTY[CONTROL_YAW]);
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  updateControlAndMeasureControlActivity(CONTROL_ROLL, tempPRTY[CONTROL_ROLL]);
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  dampenControlActivity();
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  updateControlAndMeasureControlActivity(CONTROL_YAW, tempPRTY[CONTROL_YAW]);
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  dampenControlActivity();