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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2027 | - | 1 | #include "externalControl.h" |
| 1612 | dongfang | 2 | #include "configuration.h" |
| 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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| 1821 | - | 12 | // if necessary. From main.c. |
| 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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| 1612 | dongfang | 21 | } |
| 22 | |||
| 23 | int16_t* EC_getPRTY(void) { |
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| 1821 | - | 24 | return EC_PRTY; |
| 1612 | dongfang | 25 | } |
| 26 | |||
| 27 | uint8_t EC_getArgument(void) { |
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| 1821 | - | 28 | return externalControl.config; |
| 1612 | dongfang | 29 | } |
| 30 | |||
| 31 | uint8_t EC_getCommand(void) { |
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| 1821 | - | 32 | return externalControl.free; |
| 1612 | dongfang | 33 | } |
| 34 | |||
| 35 | // not implemented. |
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| 36 | int16_t EC_getVariable(uint8_t varNum) { |
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| 1821 | - | 37 | return 0; |
| 1612 | dongfang | 38 | } |
| 39 | |||
| 2039 | - | 40 | void EC_periodicTask() { |
| 1821 | - | 41 | if (externalControlActive) { |
| 42 | externalControlActive--; |
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| 1960 | - | 43 | EC_PRTY[CONTROL_PITCH] = externalControl.pitch * (int16_t) staticParams.stickP; |
| 44 | EC_PRTY[CONTROL_ROLL] = externalControl.roll * (int16_t) staticParams.stickP; |
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| 1821 | - | 45 | EC_PRTY[CONTROL_THROTTLE] = externalControl.throttle; |
| 46 | EC_PRTY[CONTROL_YAW] = externalControl.yaw; // No stickP or similar?????? |
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| 47 | } else { |
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| 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) { |
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| 1821 | - | 53 | if (externalControlActive > 80) |
| 54 | // Configured and heard from recently |
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| 55 | return SIGNAL_GOOD; |
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| 1612 | dongfang | 56 | |
| 1821 | - | 57 | if (externalControlActive) |
| 58 | // Configured and heard from |
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| 59 | return SIGNAL_OK; |
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| 1612 | dongfang | 60 | |
| 1960 | - | 61 | if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128)) |
| 1821 | - | 62 | // External control is not even configured. |
| 63 | return NO_SIGNAL; |
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| 1617 | dongfang | 64 | |
| 1821 | - | 65 | // Configured but expired. |
| 66 | return SIGNAL_LOST; |
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| 1612 | dongfang | 67 | } |