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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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| 2065 | - | 6 | uint8_t externalControlActive = 0; |
| 2048 | - | 7 | // int16_t EC_PRTY[4]; |
| 8 | // TODO: Who is going to call this |
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| 1612 | dongfang | 9 | |
| 10 | void EC_setNeutral(void) { |
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| 2048 | - | 11 | // if necessary. From main.c. |
| 12 | externalControl.config = 0; |
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| 13 | externalControl.pitch = 0; |
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| 14 | externalControl.roll = 0; |
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| 15 | externalControl.yaw = 0; |
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| 16 | externalControl.throttle = 0; |
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| 1821 | - | 17 | |
| 2048 | - | 18 | // From main.c. What does it do?? |
| 19 | externalControl.digital[0] = 0x55; |
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| 1612 | dongfang | 20 | } |
| 21 | |||
| 2048 | - | 22 | void EC_periodicTaskAndPRTY(int16_t* PRTY) { |
| 23 | if (externalControlActive) { |
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| 24 | externalControlActive--; |
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| 25 | PRTY[CONTROL_PITCH] += externalControl.pitch * (int16_t) staticParams.stickP; |
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| 26 | PRTY[CONTROL_ROLL] += externalControl.roll * (int16_t) staticParams.stickP; |
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| 27 | PRTY[CONTROL_THROTTLE] += externalControl.throttle; |
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| 28 | PRTY[CONTROL_YAW] += externalControl.yaw; // No stickP or similar?????? |
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| 29 | } |
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| 1612 | dongfang | 30 | } |
| 31 | |||
| 32 | uint8_t EC_getArgument(void) { |
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| 2048 | - | 33 | return externalControl.config; |
| 1612 | dongfang | 34 | } |
| 35 | |||
| 36 | uint8_t EC_getCommand(void) { |
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| 2048 | - | 37 | return externalControl.free; |
| 1612 | dongfang | 38 | } |
| 39 | |||
| 40 | // not implemented. |
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| 41 | int16_t EC_getVariable(uint8_t varNum) { |
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| 2048 | - | 42 | return 0; |
| 1612 | dongfang | 43 | } |
| 44 | |||
| 45 | uint8_t EC_getSignalQuality(void) { |
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| 2048 | - | 46 | if (externalControlActive > 80) |
| 47 | // Configured and heard from recently |
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| 48 | return SIGNAL_GOOD; |
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| 1612 | dongfang | 49 | |
| 2048 | - | 50 | if (externalControlActive) |
| 51 | // Configured and heard from |
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| 52 | return SIGNAL_OK; |
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| 1612 | dongfang | 53 | |
| 2048 | - | 54 | if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128)) |
| 55 | // External control is not even configured. |
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| 56 | return NO_SIGNAL; |
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| 1617 | dongfang | 57 | |
| 2048 | - | 58 | // Configured but expired. |
| 59 | return SIGNAL_LOST; |
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| 1612 | dongfang | 60 | } |