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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1910 | - | 1 | #include <stdlib.h> |
| 2 | #include "controlMixer.h" |
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| 3 | #include "rc.h" |
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| 4 | #include "attitude.h" |
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| 5 | #include "externalControl.h" |
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| 6 | #include "configuration.h" |
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| 7 | #include "attitude.h" |
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| 8 | #include "commands.h" |
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| 9 | #include "output.h" |
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| 10 | |||
| 11 | uint16_t maxControl[2] = {0, 0}; |
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| 12 | uint16_t controlActivity = 0; |
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| 13 | int16_t control[4] = {0, 0, 0, 0}; |
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| 14 | int32_t controlIntegrals[4] = {0, 0, 0, 0}; |
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| 15 | |||
| 16 | // Internal variables for reading commands made with an R/C stick. |
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| 17 | uint8_t lastCommand = COMMAND_NONE; |
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| 18 | uint8_t lastArgument; |
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| 19 | |||
| 20 | uint8_t isCommandRepeated = 0; |
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| 21 | |||
| 22 | // MK flags. TODO: Replace by enum. State machine. |
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| 23 | uint16_t isFlying = 0; |
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| 24 | volatile uint8_t MKFlags = 0; |
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| 25 | |||
| 26 | /* |
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| 27 | * This could be expanded to take arguments from ohter sources than the RC |
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| 28 | * (read: Custom MK RC project) |
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| 29 | */ |
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| 30 | uint8_t controlMixer_getArgument(void) { |
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| 31 | return lastArgument; |
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| 32 | } |
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| 33 | |||
| 34 | /* |
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| 35 | * This could be expanded to take calibrate / start / stop commands from ohter sources |
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| 36 | * than the R/C (read: Custom MK R/C project) |
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| 37 | */ |
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| 38 | uint8_t controlMixer_getCommand(void) { |
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| 39 | return lastCommand; |
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| 40 | } |
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| 41 | |||
| 42 | uint8_t controlMixer_isCommandRepeated(void) { |
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| 43 | return isCommandRepeated; |
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| 44 | } |
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| 45 | |||
| 46 | void controlMixer_setNeutral() { |
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| 47 | //EC_setNeutral(); |
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| 48 | //HC_setGround(); |
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| 49 | } |
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| 50 | |||
| 51 | /* |
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| 52 | * Set the potientiometer values to the momentary values of the respective R/C channels. |
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| 53 | * No slew rate limitation. |
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| 54 | */ |
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| 55 | void controlMixer_initVariables(void) { |
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| 56 | uint8_t i; |
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| 57 | for (i = 0; i < 8; i++) { |
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| 58 | variables[i] = RC_getVariable(i); |
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| 59 | } |
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| 60 | } |
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| 61 | |||
| 62 | /* |
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| 63 | * Update potentiometer values with limited slew rate. Could be made faster if desired. |
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| 64 | * TODO: It assumes R/C as source. Not necessarily true. |
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| 65 | */ |
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| 66 | void controlMixer_updateVariables(void) { |
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| 67 | uint8_t i; |
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| 68 | int16_t targetvalue; |
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| 69 | for (i = 0; i < 8; i++) { |
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| 70 | targetvalue = RC_getVariable(i); |
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| 71 | if (targetvalue < 0) |
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| 72 | targetvalue = 0; |
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| 73 | if (variables[i] < targetvalue && variables[i] < 255) |
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| 74 | variables[i]++; |
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| 75 | else if (variables[i] > 0 && variables[i] > targetvalue) |
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| 76 | variables[i]--; |
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| 77 | } |
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| 78 | } |
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| 79 | |||
| 80 | uint8_t controlMixer_getSignalQuality(void) { |
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| 81 | uint8_t rcQ = RC_getSignalQuality(); |
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| 82 | uint8_t ecQ = EC_getSignalQuality(); |
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| 83 | // This needs not be the only correct solution... |
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| 84 | return rcQ > ecQ ? rcQ : ecQ; |
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| 85 | } |
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| 86 | |||
| 87 | void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) { |
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| 88 | int16_t tmp = control[index]; |
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| 89 | |||
| 90 | // TODO: Scale by some factor. To be determined. |
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| 91 | controlIntegrals[index] += tmp * 4; |
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| 92 | |||
| 93 | if (controlIntegrals[index] > PITCHROLLOVER180) { |
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| 94 | controlIntegrals[index] -= PITCHROLLOVER360; |
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| 95 | } else if (controlIntegrals[index] <= -PITCHROLLOVER180) { |
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| 96 | controlIntegrals[index] += PITCHROLLOVER360; |
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| 97 | } |
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| 98 | |||
| 99 | control[index] = newValue; |
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| 100 | tmp -= newValue; |
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| 101 | tmp = tmp * tmp; |
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| 102 | // tmp += (newValue >= 0) ? newValue : -newValue; |
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| 103 | controlActivity += tmp; |
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| 104 | } |
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| 105 | |||
| 106 | #define CADAMPING 10 |
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| 107 | void dampenControlActivity(void) { |
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| 108 | int32_t tmp = controlActivity; |
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| 109 | tmp *= ((1<<CADAMPING)-1); |
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| 110 | tmp >>= CADAMPING; |
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| 111 | controlActivity = tmp; |
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| 112 | } |
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| 113 | |||
| 114 | /* |
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| 115 | * Update the variables indicating stick position from the sum of R/C, GPS and external control. |
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| 116 | */ |
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| 117 | void controlMixer_update(void) { |
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| 118 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
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| 119 | // TODO: If no signal --> zero. |
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| 120 | uint8_t axis; |
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| 121 | |||
| 122 | RC_update(); |
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| 123 | // EC_update(); |
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| 124 | // HC_update(); |
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| 125 | |||
| 126 | int16_t* RC_EATR = RC_getEATR(); |
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| 127 | // int16_t* EC_PRTY = EC_getPRTY(); |
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| 128 | |||
| 129 | updateControlAndMeasureControlActivity(CONTROL_ELEVATOR, RC_EATR[CONTROL_ELEVATOR] /* + EC_PRTY[CONTROL_PITCH] */); |
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| 130 | updateControlAndMeasureControlActivity(CONTROL_AILERONS, RC_EATR[CONTROL_AILERONS] /* + EC_PRTY[CONTROL_ROLL] */); |
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| 131 | updateControlAndMeasureControlActivity(CONTROL_RUDDER, RC_EATR[CONTROL_RUDDER] /* + EC_PRTY[CONTROL_YAW] */); |
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| 132 | dampenControlActivity(); |
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| 133 | |||
| 134 | // Do we also want to have activity measurement on throttle? |
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| 135 | control[CONTROL_THROTTLE] = RC_EATR[CONTROL_THROTTLE]; // + EC_PRTY[CONTROL_THROTTLE]); |
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| 136 | |||
| 137 | if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
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| 138 | controlMixer_updateVariables(); |
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| 139 | configuration_staticToDynamic(); |
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| 140 | } else { // Signal is not OK |
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| 141 | // Could handle switch to emergency flight here. |
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| 142 | // throttle is handled elsewhere. |
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| 143 | } |
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| 144 | |||
| 145 | // part1a end. |
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| 146 | |||
| 147 | /* This is not really necessary with the dead-band feature on all sticks (see rc.c) |
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| 148 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
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| 149 | if (controlYaw > 2) controlYaw-= 2; |
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| 150 | else if (controlYaw< -2) controlYaw += 2; |
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| 151 | else controlYaw = 0; |
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| 152 | } |
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| 153 | */ |
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| 154 | |||
| 155 | /* |
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| 156 | * Record maxima |
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| 157 | */ |
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| 158 | for (axis = PITCH; axis <= ROLL; axis++) { |
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| 159 | if (abs(control[axis]) > maxControl[axis]) { |
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| 160 | maxControl[axis] = abs(control[axis]); |
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| 161 | if (maxControl[axis] > 100) |
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| 162 | maxControl[axis] = 100; |
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| 163 | } else if (maxControl[axis]) |
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| 164 | maxControl[axis]--; |
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| 165 | } |
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| 166 | |||
| 167 | uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE; |
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| 168 | // uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() : COMMAND_NONE; |
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| 169 | |||
| 170 | if (rcCommand != COMMAND_NONE) { |
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| 171 | isCommandRepeated = (lastCommand == rcCommand); |
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| 172 | lastCommand = rcCommand; |
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| 173 | lastArgument = RC_getArgument(); |
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| 174 | } /*else if (ecCommand != COMMAND_NONE) { |
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| 175 | isCommandRepeated = (lastCommand == ecCommand); |
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| 176 | lastCommand = ecCommand; |
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| 177 | lastArgument = EC_getArgument(); |
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| 178 | } */ |
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| 179 | else { |
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| 180 | // Both sources have no command, or one or both are out. |
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| 181 | // Just set to false. There is no reason to check if the none-command was repeated anyway. |
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| 182 | isCommandRepeated = 0; |
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| 183 | lastCommand = COMMAND_NONE; |
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| 184 | } |
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| 185 | } |
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| 186 | |||
| 187 | // TODO: Integrate into command system. |
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| 188 | uint8_t controlMixer_testCompassCalState(void) { |
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| 189 | return RC_testCompassCalState(); |
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| 190 | } |