WebSVN - FlightCtrl - Blame - Rev 2115 - /branches/dongfang_FC

Rev	Author	Line No.	Line
2099	-	1	#include <stdlib.h>
		2	#include "controlMixer.h"
		3	#include "rc.h"
		4	#include "externalControl.h"
		5	#include "failsafeControl.h"
		6	#include "configuration.h"
		7	#include "attitude.h"
		8	#include "commands.h"
		9	#include "output.h"
		10
2115	-	11	// The -1024 is an arbrtrary, very low value that will shut off the motor. This is default until the control mixer runs for the first time.
		12	int16_t controls[4] = { 0, 0, 0, -1024 };
2099	-	13
		14	// Internal variables for reading commands made with an R/C stick.
		15	uint8_t lastCommand = COMMAND_NONE;
		16	uint8_t lastArgument;
		17
		18	uint8_t isCommandRepeated = 0;
		19	uint8_t controlMixer_didReceiveSignal = 0;
		20
		21	/*
		22	* This could be expanded to take arguments from ohter sources than the RC
		23	* (read: Custom MK RC project)
		24	*/
		25	uint8_t controlMixer_getArgument(void) {
		26	return lastArgument;
		27	}
		28
		29	/*
		30	* This could be expanded to take calibrate / start / stop commands from ohter sources
		31	* than the R/C (read: Custom MK R/C project)
		32	*/
		33	uint8_t controlMixer_getCommand(void) {
		34	return lastCommand;
		35	}
		36
		37	uint8_t controlMixer_isCommandRepeated(void) {
		38	return isCommandRepeated;
		39	}
		40
		41	void controlMixer_setNeutral() {
		42	for (uint8_t i=0; i<VARIABLE_COUNT; i++) {
		43	variables[i] = RC_getVariable(i);
		44	}
		45	EC_setNeutral();
		46	FC_setNeutral(); // FC is FailsafeControl, not FlightCtrl.
		47	}
		48
		49	/*
		50	* Update potentiometer values with limited slew rate. Could be made faster if desired.
		51	* TODO: It assumes R/C as source. Not necessarily true.
		52	*/
		53	void controlMixer_updateVariables(void) {
		54	uint8_t i;
		55	int16_t targetvalue;
		56	for (i=0; i < VARIABLE_COUNT; i++) {
		57	targetvalue = RC_getVariable(i);
		58	if (targetvalue < 0)
		59	targetvalue = 0;
		60	if (variables[i] < targetvalue && variables[i] < 255)
		61	variables[i]++;
		62	else if (variables[i] > 0 && variables[i] > targetvalue)
		63	variables[i]--;
		64	}
		65	}
		66
		67	uint8_t controlMixer_getSignalQuality(void) {
		68	uint8_t rcQ = RC_getSignalQuality();
		69	uint8_t ecQ = EC_getSignalQuality();
		70
		71	// This needs not be the only correct solution...
		72	return rcQ > ecQ ? rcQ : ecQ;
		73	}
		74
		75	/*
		76	void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) {
		77	int16_t tmp = controls[index];
		78	controls[index] = newValue;
		79
		80	tmp -= newValue;
		81	tmp /= 2;
		82	tmp = tmp * tmp;
		83	// tmp += (newValue >= 0) ? newValue : -newValue;
		84
		85	/ *
		86	if (controlActivity + (uint16_t)tmp >= controlActivity)
		87	controlActivity += tmp;
		88	else controlActivity = 0xffff;
		89	* /
		90	if (controlActivity + (uint16_t)tmp < 0x8000)
		91	controlActivity += tmp;
		92	}
		93
		94	#define CADAMPING 10
		95	void dampenControlActivity(void) {
		96	uint32_t tmp = controlActivity;
		97	tmp *= ((1<<CADAMPING)-1);
		98	tmp >>= CADAMPING;
		99	controlActivity = tmp;
		100	}
		101	*/
		102
		103	/*
		104	* Update the variables indicating stick position from the sum of R/C, GPS and external control
		105	* and whatever other controls we invented in the meantime...
		106	* Update variables.
		107	* Decode commands but do not execute them.
		108	*/
		109
		110	void controlMixer_periodicTask(void) {
2115	-	111	int16_t tempPRYT[4] = { 0, 0, 0, RC_getZeroThrottle()};
2099	-	112
		113	// Decode commands.
2102	-	114	uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE;
		115	uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() : COMMAND_NONE;
2099	-	116
		117	// Update variables ("potis").
		118	if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) {
		119	controlMixer_updateVariables();
		120	controlMixer_didReceiveSignal = 1;
		121	} else { // Signal is not OK
		122	// Could handle switch to emergency flight here.
		123	// throttle is handled elsewhere.
		124	}
		125
		126	if (rcCommand != COMMAND_NONE) {
		127	isCommandRepeated = (lastCommand == rcCommand);
		128	lastCommand = rcCommand;
		129	lastArgument = RC_getArgument();
		130	} else if (ecCommand != COMMAND_NONE) {
		131	isCommandRepeated = (lastCommand == ecCommand);
		132	lastCommand = ecCommand;
		133	lastArgument = EC_getArgument();
		134	} else {
		135	// Both sources have no command, or one or both are out.
		136	// Just set to false. There is no reason to check if the none-command was repeated anyway.
		137	isCommandRepeated = 0;
		138	lastCommand = COMMAND_NONE;
		139	}
		140
		141	// This will init the values (not just add to them).
2103	-	142	RC_periodicTaskAndPRYT(tempPRYT);
2099	-	143
		144	// Add external control to RC
2103	-	145	EC_periodicTaskAndPRYT(tempPRYT);
2099	-	146
2103	-	147	FC_periodicTaskAndPRYT(tempPRYT);
2099	-	148
		149	// Commit results to global variable and also measure control activity.
2103	-	150	controls[CONTROL_THROTTLE] = tempPRYT[CONTROL_THROTTLE];
		151	controls[CONTROL_ELEVATOR] = tempPRYT[CONTROL_ELEVATOR];
		152	controls[CONTROL_AILERONS] = tempPRYT[CONTROL_AILERONS];
		153	controls[CONTROL_RUDDER] = tempPRYT[CONTROL_RUDDER];
2099	-	154	// dampenControlActivity();
		155
		156	// We can safely do this even with a bad signal - the variables will not have been updated then.
		157	configuration_applyVariablesToParams();
		158	}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/controlMixer.c @ 1956 - Rev 2115