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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2108 | - | 1 | #include "externalControl.h" |
| 2 | #include "configuration.h" |
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| 3 | #include "controlMixer.h" |
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| 4 | |||
| 5 | ExternalControl_t externalControl; |
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| 6 | uint8_t externalControlActive = 0; |
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| 7 | |||
| 8 | void EC_setNeutral(void) { |
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| 9 | // if necessary. From main.c. |
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| 10 | externalControl.config = 0; |
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| 11 | externalControl.pitch = 0; |
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| 12 | externalControl.roll = 0; |
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| 13 | externalControl.yaw = 0; |
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| 14 | externalControl.throttle = 0; |
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| 15 | |||
| 16 | // From main.c. What does it do?? |
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| 17 | externalControl.digital[0] = 0x55; |
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| 18 | } |
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| 19 | |||
| 20 | void EC_periodicTaskAndPRYT(int16_t* PRYT) { |
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| 21 | if (externalControlActive) { |
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| 22 | externalControlActive--; |
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| 23 | PRYT[CONTROL_ELEVATOR] += externalControl.pitch * 8; |
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| 24 | PRYT[CONTROL_AILERONS] += externalControl.roll * 8; |
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| 25 | PRYT[CONTROL_THROTTLE] += externalControl.throttle * 8; |
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| 26 | PRYT[CONTROL_RUDDER] += externalControl.yaw * 8; |
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| 27 | } |
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| 28 | } |
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| 29 | |||
| 30 | uint8_t EC_getArgument(void) { |
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| 31 | return externalControl.config; |
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| 32 | } |
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| 33 | |||
| 34 | uint8_t EC_getCommand(void) { |
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| 35 | return externalControl.free; |
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| 36 | } |
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| 37 | |||
| 38 | // not implemented. |
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| 39 | int16_t EC_getVariable(uint8_t varNum) { |
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| 40 | return 0; |
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| 41 | } |
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| 42 | |||
| 43 | uint8_t EC_getSignalQuality(void) { |
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| 44 | if (externalControlActive > 40) |
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| 45 | // Configured and heard from recently |
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| 46 | return SIGNAL_GOOD; |
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| 47 | |||
| 48 | if (externalControlActive) |
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| 49 | // Configured and heard from |
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| 50 | return SIGNAL_OK; |
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| 51 | |||
| 52 | if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128)) |
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| 53 | // External control is not even configured. |
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| 54 | return NO_SIGNAL; |
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| 55 | |||
| 56 | // Configured but expired. |
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| 57 | return SIGNAL_LOST; |
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| 58 | } |