WebSVN - FlightCtrl - Blame - Rev 2102 - /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
		11	int16_t controls[4] = { 0, 0, 0, 0 };
		12
		13	// Internal variables for reading commands made with an R/C stick.
		14	uint8_t lastCommand = COMMAND_NONE;
		15	uint8_t lastArgument;
		16
		17	uint8_t isCommandRepeated = 0;
		18	uint8_t controlMixer_didReceiveSignal = 0;
		19
		20	/*
		21	* This could be expanded to take arguments from ohter sources than the RC
		22	* (read: Custom MK RC project)
		23	*/
		24	uint8_t controlMixer_getArgument(void) {
		25	return lastArgument;
		26	}
		27
		28	/*
		29	* This could be expanded to take calibrate / start / stop commands from ohter sources
		30	* than the R/C (read: Custom MK R/C project)
		31	*/
		32	uint8_t controlMixer_getCommand(void) {
		33	return lastCommand;
		34	}
		35
		36	uint8_t controlMixer_isCommandRepeated(void) {
		37	return isCommandRepeated;
		38	}
		39
		40	void controlMixer_setNeutral() {
		41	for (uint8_t i=0; i<VARIABLE_COUNT; i++) {
		42	variables[i] = RC_getVariable(i);
		43	}
		44	EC_setNeutral();
		45	FC_setNeutral(); // FC is FailsafeControl, not FlightCtrl.
		46	}
		47
		48	/*
		49	* Update potentiometer values with limited slew rate. Could be made faster if desired.
		50	* TODO: It assumes R/C as source. Not necessarily true.
		51	*/
		52	void controlMixer_updateVariables(void) {
		53	uint8_t i;
		54	int16_t targetvalue;
		55	for (i=0; i < VARIABLE_COUNT; i++) {
		56	targetvalue = RC_getVariable(i);
		57	if (targetvalue < 0)
		58	targetvalue = 0;
		59	if (variables[i] < targetvalue && variables[i] < 255)
		60	variables[i]++;
		61	else if (variables[i] > 0 && variables[i] > targetvalue)
		62	variables[i]--;
		63	}
		64	}
		65
		66	uint8_t controlMixer_getSignalQuality(void) {
		67	uint8_t rcQ = RC_getSignalQuality();
		68	uint8_t ecQ = EC_getSignalQuality();
		69
		70	// This needs not be the only correct solution...
		71	return rcQ > ecQ ? rcQ : ecQ;
		72	}
		73
		74	/*
		75	void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) {
		76	int16_t tmp = controls[index];
		77	controls[index] = newValue;
		78
		79	tmp -= newValue;
		80	tmp /= 2;
		81	tmp = tmp * tmp;
		82	// tmp += (newValue >= 0) ? newValue : -newValue;
		83
		84	/ *
		85	if (controlActivity + (uint16_t)tmp >= controlActivity)
		86	controlActivity += tmp;
		87	else controlActivity = 0xffff;
		88	* /
		89	if (controlActivity + (uint16_t)tmp < 0x8000)
		90	controlActivity += tmp;
		91	}
		92
		93	#define CADAMPING 10
		94	void dampenControlActivity(void) {
		95	uint32_t tmp = controlActivity;
		96	tmp *= ((1<<CADAMPING)-1);
		97	tmp >>= CADAMPING;
		98	controlActivity = tmp;
		99	}
		100	*/
		101
		102	/*
		103	* Update the variables indicating stick position from the sum of R/C, GPS and external control
		104	* and whatever other controls we invented in the meantime...
		105	* Update variables.
		106	* Decode commands but do not execute them.
		107	*/
		108
		109	void controlMixer_periodicTask(void) {
		110	int16_t tempPRTY[4] = { 0, 0, 0, 0 };
		111
		112	// Decode commands.
2102	-	113	uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE;
2099	-	114
2102	-	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).
		142	RC_periodicTaskAndPRTY(tempPRTY);
		143
		144	// Add external control to RC
		145	EC_periodicTaskAndPRTY(tempPRTY);
		146
		147	FC_periodicTaskAndPRTY(tempPRTY);
		148
		149	// Commit results to global variable and also measure control activity.
		150	controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE];
		151	controls[CONTROL_ELEVATOR] = tempPRTY[CONTROL_ELEVATOR];
		152	controls[CONTROL_AILERONS] = tempPRTY[CONTROL_AILERONS];
		153	controls[CONTROL_RUDDER] = tempPRTY[CONTROL_RUDDER];
		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 - Rev 2102