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Rev | Author | Line No. | Line |
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1612 | dongfang | 1 | #include "externalcontrol.h" |
2 | #include "configuration.h" |
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3 | #include "controlMixer.h" |
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4 | |||
5 | ExternalControl_t externalControl; |
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6 | uint8_t externalControlActive; |
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7 | |||
8 | int16_t EC_PRTY[4]; |
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9 | |||
10 | // TODO: Who is going to call this |
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11 | void EC_setNeutral(void) { |
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12 | // if necessary. From main.c. |
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13 | externalControl.config = 0; |
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14 | externalControl.pitch = 0; |
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15 | externalControl.roll = 0; |
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16 | externalControl.yaw = 0; |
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17 | externalControl.throttle = 0; |
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18 | |||
19 | // From main.c. What does it do?? |
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20 | externalControl.digital[0] = 0x55; |
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21 | } |
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22 | |||
23 | int16_t* EC_getPRTY(void) { |
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24 | return EC_PRTY; |
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25 | } |
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26 | |||
27 | // not implemented. |
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28 | uint8_t EC_getArgument(void) { |
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29 | return 0; |
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30 | } |
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31 | |||
32 | // not implemented. |
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33 | uint8_t EC_getCommand(void) { |
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34 | return COMMAND_NONE; |
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35 | } |
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36 | |||
37 | // not implemented. |
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38 | int16_t EC_getVariable(uint8_t varNum) { |
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39 | return 0; |
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40 | } |
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41 | |||
42 | void EC_update() { |
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43 | if (externalControlActive) { |
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44 | externalControlActive--; |
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45 | EC_PRTY[CONTROL_PITCH] = (int16_t) externalControl.pitch * (int16_t) staticParams.StickP; |
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46 | EC_PRTY[CONTROL_ROLL] = externalControl.roll * (int16_t) staticParams.StickP; |
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47 | EC_PRTY[CONTROL_THROTTLE] = externalControl.throttle; |
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48 | EC_PRTY[CONTROL_YAW] = externalControl.yaw; // No stickP or similar?????? |
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49 | } else { |
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50 | EC_PRTY[CONTROL_PITCH] = EC_PRTY[CONTROL_ROLL] = EC_PRTY[CONTROL_THROTTLE] = EC_PRTY[CONTROL_YAW] = 0; |
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51 | } |
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52 | } |
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53 | |||
54 | uint8_t EC_getSignalQuality(void) { |
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55 | if (externalControlActive > 100) |
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56 | // Configured and heard from recently |
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57 | return SIGNAL_GOOD; |
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58 | |||
59 | if (externalControlActive) |
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60 | // Configured and heard from |
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61 | return SIGNAL_OK; |
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62 | |||
1617 | dongfang | 63 | if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128)) |
64 | // External control is not even configured. |
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65 | return NO_SIGNAL; |
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66 | |||
1612 | dongfang | 67 | // Configured but expired. |
68 | return SIGNAL_LOST; |
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69 | } |