Rev 2069 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2027 | - | 1 | #include "externalControl.h" |
| 1612 | dongfang | 2 | #include "configuration.h" |
| 2189 | - | 3 | //#include "controlMixer.h" |
| 4 | #include "definitions.h" |
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| 1612 | dongfang | 5 | |
| 6 | ExternalControl_t externalControl; |
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| 2189 | - | 7 | volatile uint8_t externalControlActive; |
| 2048 | - | 8 | // TODO: Who is going to call this |
| 1612 | dongfang | 9 | |
| 10 | void EC_setNeutral(void) { |
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| 2048 | - | 11 | // if necessary. From main.c. |
| 2189 | - | 12 | externalControl.command = 0; |
| 13 | externalControl.argument = 0; |
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| 2048 | - | 14 | externalControl.pitch = 0; |
| 15 | externalControl.roll = 0; |
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| 16 | externalControl.yaw = 0; |
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| 17 | externalControl.throttle = 0; |
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| 1821 | - | 18 | |
| 2048 | - | 19 | // From main.c. What does it do?? |
| 20 | externalControl.digital[0] = 0x55; |
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| 1612 | dongfang | 21 | } |
| 22 | |||
| 2189 | - | 23 | void EC_periodicTaskAndRPTY(int16_t* RPTY) { |
| 2048 | - | 24 | if (externalControlActive) { |
| 25 | externalControlActive--; |
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| 2189 | - | 26 | RPTY[CONTROL_PITCH] += externalControl.pitch * (int16_t) staticParams.stickP; |
| 27 | RPTY[CONTROL_ROLL] += externalControl.roll * (int16_t) staticParams.stickP; |
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| 28 | RPTY[CONTROL_THROTTLE] += externalControl.throttle; |
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| 29 | RPTY[CONTROL_YAW] += externalControl.yaw; // No stickP or similar?????? |
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| 2048 | - | 30 | } |
| 1612 | dongfang | 31 | } |
| 32 | |||
| 33 | uint8_t EC_getArgument(void) { |
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| 2189 | - | 34 | return externalControl.argument; |
| 1612 | dongfang | 35 | } |
| 36 | |||
| 37 | uint8_t EC_getCommand(void) { |
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| 2189 | - | 38 | return externalControl.command; |
| 1612 | dongfang | 39 | } |
| 40 | |||
| 41 | // not implemented. |
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| 42 | int16_t EC_getVariable(uint8_t varNum) { |
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| 2048 | - | 43 | return 0; |
| 1612 | dongfang | 44 | } |
| 45 | |||
| 46 | uint8_t EC_getSignalQuality(void) { |
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| 2069 | - | 47 | if (externalControlActive > 40) |
| 2048 | - | 48 | // Configured and heard from recently |
| 49 | return SIGNAL_GOOD; |
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| 1612 | dongfang | 50 | |
| 2048 | - | 51 | if (externalControlActive) |
| 52 | // Configured and heard from |
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| 53 | return SIGNAL_OK; |
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| 1612 | dongfang | 54 | |
| 2189 | - | 55 | if (dynamicParams.externalControl < 128) |
| 2048 | - | 56 | // External control is not even configured. |
| 57 | return NO_SIGNAL; |
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| 1617 | dongfang | 58 | |
| 2048 | - | 59 | // Configured but expired. |
| 60 | return SIGNAL_LOST; |
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| 1612 | dongfang | 61 | } |