Rev 2102 | Rev 2104 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2102 | Rev 2103 | ||
|---|---|---|---|
| Line 152... | Line 152... | ||
| 152 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
152 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
| 153 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
153 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
| Line 154... | Line 154... | ||
| 154 | 154 | ||
| Line 155... | Line 155... | ||
| 155 | #define RC_SCALING 4 |
155 | #define RC_SCALING 4 |
| 156 | 156 | ||
| 157 | uint8_t getControlModeSwitch() { |
157 | uint8_t getControlModeSwitch(void) { |
| 158 | int16_t channel = RCChannel(CH_MODESWITCH) + POT_OFFSET; |
158 | int16_t channel = RCChannel(CH_MODESWITCH) + POT_OFFSET; |
| 159 | uint8_t flightMode = channel < 256/3 ? FLIGHT_MODE_MANUAL : |
159 | uint8_t flightMode = channel < 256/3 ? FLIGHT_MODE_MANUAL : |
| 160 | (channel > 256*2/3 ? FLIGHT_MODE_ANGLES : FLIGHT_MODE_RATE); |
160 | (channel > 256*2/3 ? FLIGHT_MODE_ANGLES : FLIGHT_MODE_RATE); |
| Line 173... | Line 173... | ||
| 173 | lastFlightMode = flightMode; |
173 | lastFlightMode = flightMode; |
| 174 | lastRCCommand = COMMAND_CHMOD; |
174 | lastRCCommand = COMMAND_CHMOD; |
| 175 | return lastRCCommand; |
175 | return lastRCCommand; |
| 176 | } |
176 | } |
| Line 177... | Line 177... | ||
| 177 | 177 | ||
| 178 | int16_t channel = RCChannel(CH_MODESWITCH) + POT_OFFSET; |
178 | int16_t channel = RCChannel(CH_THROTTLE); |
| 179 | if (channel <= -32) { // <= 900 us |
179 | if (channel <= -140) { // <= 900 us |
| 180 | if (commandTimer == COMMAND_TIMER) { |
180 | if (commandTimer == COMMAND_TIMER) { |
| 181 | lastRCCommand = COMMAND_GYROCAL; |
181 | lastRCCommand = COMMAND_GYROCAL; |
| 182 | } |
182 | } |
| 183 | if (commandTimer <= COMMAND_TIMER) { |
183 | if (commandTimer <= COMMAND_TIMER) { |
| 184 | commandTimer++; |
184 | commandTimer++; |
| - | 185 | } |
|
| 185 | } |
186 | } else { |
| - | 187 | commandTimer = 0; |
|
| - | 188 | lastRCCommand = COMMAND_NONE; |
|
| 186 | } else commandTimer = 0; |
189 | } |
| 187 | return lastRCCommand; |
190 | return lastRCCommand; |
| Line 188... | Line 191... | ||
| 188 | } |
191 | } |
| 189 | 192 | ||
| 190 | uint8_t RC_getArgument(void) { |
193 | uint8_t RC_getArgument(void) { |
| Line 191... | Line 194... | ||
| 191 | return lastFlightMode; |
194 | return lastFlightMode; |
| 192 | } |
195 | } |
| 193 | 196 | ||
| 194 | /* |
197 | /* |
| 195 | * Get Pitch, Roll, Throttle, Yaw values |
198 | * Get Pitch, Roll, Throttle, Yaw values |
| 196 | */ |
199 | */ |
| 197 | void RC_periodicTaskAndPRTY(int16_t* PRTY) { |
- | |
| 198 | if (RCQuality) { |
- | |
| 199 | RCQuality--; |
- | |
| 200 | PRTY[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) * RC_SCALING; |
- | |
| Line 201... | Line 200... | ||
| 201 | PRTY[CONTROL_AILERONS] = RCChannel(CH_AILERONS) * RC_SCALING; |
200 | void RC_periodicTaskAndPRYT(int16_t* PRYT) { |
| - | 201 | if (RCQuality) { |
|
| - | 202 | RCQuality--; |
|
| 202 | PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) * RC_SCALING; |
203 | |
| - | 204 | debugOut.analog[20] = RCChannel(CH_ELEVATOR); |
|
| - | 205 | debugOut.analog[21] = RCChannel(CH_AILERONS); |
|
| - | 206 | debugOut.analog[22] = RCChannel(CH_RUDDER); |
|
| - | 207 | debugOut.analog[23] = RCChannel(CH_THROTTLE); |
|
| - | 208 | ||
| Line 203... | Line 209... | ||
| 203 | PRTY[CONTROL_RUDDER] = RCChannel(CH_RUDDER) * RC_SCALING; |
209 | PRYT[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) * RC_SCALING; |
| 204 | 210 | PRYT[CONTROL_AILERONS] = RCChannel(CH_AILERONS) * RC_SCALING; |
|
| 205 | debugOut.analog[16] = PRTY[CONTROL_ELEVATOR]; |
211 | PRYT[CONTROL_RUDDER] = RCChannel(CH_RUDDER) * RC_SCALING; |
| 206 | debugOut.analog[17] = PRTY[CONTROL_THROTTLE]; |
212 | PRYT[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) * RC_SCALING; |