Subversion Repositories FlightCtrl

Rev

Rev 1960 | Rev 2048 | Go to most recent revision | 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"
3
#include "controlMixer.h"
4
 
5
ExternalControl_t externalControl;
6
uint8_t externalControlActive;
7
 
8
int16_t EC_PRTY[4];
9
 
10
// TODO: Who is going to call this
11
void EC_setNeutral(void) {
1821 - 12
        // if necessary. From main.c.
13
        externalControl.config = 0;
14
        externalControl.pitch = 0;
15
        externalControl.roll = 0;
16
        externalControl.yaw = 0;
17
        externalControl.throttle = 0;
18
 
19
        // From main.c. What does it do??
20
        externalControl.digital[0] = 0x55;
1612 dongfang 21
}
22
 
23
int16_t* EC_getPRTY(void) {
1821 - 24
        return EC_PRTY;
1612 dongfang 25
}
26
 
27
uint8_t EC_getArgument(void) {
1821 - 28
        return externalControl.config;
1612 dongfang 29
}
30
 
31
uint8_t EC_getCommand(void) {
1821 - 32
        return externalControl.free;
1612 dongfang 33
}
34
 
35
// not implemented.
36
int16_t EC_getVariable(uint8_t varNum) {
1821 - 37
        return 0;
1612 dongfang 38
}
39
 
40
void EC_update() {
1821 - 41
        if (externalControlActive) {
42
                externalControlActive--;
1960 - 43
                EC_PRTY[CONTROL_PITCH] = externalControl.pitch * (int16_t) staticParams.stickP;
44
                EC_PRTY[CONTROL_ROLL] = externalControl.roll * (int16_t) staticParams.stickP;
1821 - 45
                EC_PRTY[CONTROL_THROTTLE] = externalControl.throttle;
46
                EC_PRTY[CONTROL_YAW] = externalControl.yaw; // No stickP or similar??????
47
        } else {
1872 - 48
                EC_PRTY[CONTROL_PITCH] = EC_PRTY[CONTROL_ROLL] = EC_PRTY[CONTROL_THROTTLE] = EC_PRTY[CONTROL_YAW] = 0;
1821 - 49
        }
1612 dongfang 50
}
51
 
52
uint8_t EC_getSignalQuality(void) {
1821 - 53
        if (externalControlActive > 80)
54
                // Configured and heard from recently
55
                return SIGNAL_GOOD;
1612 dongfang 56
 
1821 - 57
        if (externalControlActive)
58
                // Configured and heard from
59
                return SIGNAL_OK;
1612 dongfang 60
 
1960 - 61
        if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128))
1821 - 62
                // External control is not even configured.
63
                return NO_SIGNAL;
1617 dongfang 64
 
1821 - 65
        // Configured but expired.
66
        return SIGNAL_LOST;
1612 dongfang 67
}