Rev 1635 | Rev 1775 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
||
3 | // + Nur für den privaten Gebrauch |
||
4 | // + www.MikroKopter.com |
||
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
||
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
||
11 | // + Verkauf von Luftbildaufnahmen, usw. |
||
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
||
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
||
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
18 | // + eindeutig als Ursprung verlinkt werden |
||
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
21 | // + Benutzung auf eigene Gefahr |
||
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
||
25 | // + mit unserer Zustimmung zulässig |
||
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
||
30 | // + this list of conditions and the following disclaimer. |
||
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
32 | // + from this software without specific prior written permission. |
||
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
||
34 | // + for non-commercial use (directly or indirectly) |
||
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
||
36 | // + with our written permission |
||
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
||
38 | // + clearly linked as origin |
||
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
||
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
||
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
49 | // + POSSIBILITY OF SUCH DAMAGE. |
||
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
51 | #include <stdlib.h> |
||
52 | #include <avr/io.h> |
||
53 | #include <avr/interrupt.h> |
||
54 | |||
55 | #include "rc.h" |
||
56 | #include "controlMixer.h" |
||
57 | #include "configuration.h" |
||
58 | |||
59 | // The channel array is 1-based. The 0th entry is not used. |
||
60 | volatile int16_t PPM_in[MAX_CHANNELS]; |
||
61 | volatile int16_t PPM_diff[MAX_CHANNELS]; |
||
62 | volatile uint8_t NewPpmData = 1; |
||
63 | volatile int16_t RC_Quality = 0; |
||
64 | int16_t RC_PRTY[4]; |
||
65 | |||
66 | int16_t stickOffsetPitch = 0, stickOffsetRoll = 0; |
||
67 | |||
68 | /*************************************************************** |
||
69 | * 16bit timer 1 is used to decode the PPM-Signal |
||
70 | ***************************************************************/ |
||
71 | void RC_Init (void) { |
||
72 | uint8_t sreg = SREG; |
||
73 | |||
74 | // disable all interrupts before reconfiguration |
||
75 | cli(); |
||
76 | |||
77 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
||
78 | DDRD &= ~(1<<DDD6); |
||
79 | PORTD |= (1<<PORTD6); |
||
80 | |||
81 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
||
82 | // set as output |
||
83 | DDRD |= /*(1<<DDD5)|*/(1<<DDD4); |
||
84 | // low level |
||
85 | PORTD &= ~(/*(1<<PORTD5)|*/(1<<PORTD4)); |
||
86 | |||
87 | // PD3 can't be used if 2nd UART is activated |
||
88 | // because TXD1 is at that port |
||
89 | if(CPUType != ATMEGA644P) { |
||
90 | DDRD |= (1<<PORTD3); |
||
91 | PORTD &= ~(1<<PORTD3); |
||
92 | } |
||
93 | |||
94 | // Timer/Counter1 Control Register A, B, C |
||
95 | |||
96 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
||
97 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
||
98 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
||
99 | // Enable input capture noise cancler (bit: ICNC1=1) |
||
100 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
||
101 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
||
102 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
||
103 | TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
||
104 | TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
||
105 | TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
||
106 | TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
||
107 | |||
108 | // Timer/Counter1 Interrupt Mask Register |
||
109 | |||
110 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
||
111 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
||
112 | // Enable Overflow Interrupt (bit: TOIE1=0) |
||
113 | TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)|(1<<TOIE1)); |
||
114 | TIMSK1 |= (1<<ICIE1); |
||
115 | |||
116 | RC_Quality = 0; |
||
117 | |||
118 | SREG = sreg; |
||
119 | } |
||
120 | |||
121 | /********************************************************************/ |
||
122 | /* Every time a positive edge is detected at PD6 */ |
||
123 | /********************************************************************/ |
||
124 | /* t-Frame |
||
125 | <-----------------------------------------------------------------------> |
||
126 | ____ ______ _____ ________ ______ sync gap ____ |
||
127 | | | | | | | | | | | | |
||
128 | | | | | | | | | | | | |
||
1634 | - | 129 | ___| |_| |_| |_| |_.............| |________________| |
1612 | dongfang | 130 | <-----><-------><------><--------> <------> <--- |
131 | t0 t1 t2 t4 tn t0 |
||
132 | |||
133 | The PPM-Frame length is 22.5 ms. |
||
134 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
||
135 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
||
136 | The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
||
137 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
||
138 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
||
139 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
||
140 | the syncronization gap. |
||
141 | */ |
||
142 | ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms |
||
143 | int16_t signal = 0, tmp; |
||
144 | static int16_t index; |
||
145 | static uint16_t oldICR1 = 0; |
||
146 | |||
147 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
||
148 | // at the time the edge was detected |
||
149 | |||
150 | // calculate the time delay to the previous event time which is stored in oldICR1 |
||
151 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
||
152 | // implicit handles a timer overflow 65535 -> 0 the right way. |
||
153 | signal = (uint16_t) ICR1 - oldICR1; |
||
154 | oldICR1 = ICR1; |
||
155 | |||
156 | //sync gap? (3.52 ms < signal < 25.6 ms) |
||
157 | if((signal > 1100) && (signal < 8000)) { |
||
158 | // if a sync gap happens and there where at least 4 channels decoded before |
||
159 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
||
160 | if(index >= 4) { |
||
161 | NewPpmData = 0; // Null means NewData for the first 4 channels |
||
162 | } |
||
163 | // synchronize channel index |
||
164 | index = 1; |
||
165 | } else { // within the PPM frame |
||
166 | if(index < MAX_CHANNELS-1) // PPM24 supports 12 channels |
||
167 | { |
||
168 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
||
169 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
||
170 | if((signal > 250) && (signal < 687)) |
||
171 | { |
||
172 | // shift signal to zero symmetric range -154 to 159 |
||
173 | signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
||
174 | // check for stable signal |
||
175 | if(abs(signal - PPM_in[index]) < 6) { |
||
176 | if(RC_Quality < 200) RC_Quality +=10; |
||
177 | else RC_Quality = 200; |
||
178 | } |
||
179 | // calculate exponential history for signal |
||
180 | tmp = (3 * PPM_in[index] + signal) / 4; |
||
181 | if(tmp > signal + 1) tmp--; else |
||
182 | if(tmp < signal-1) tmp++; |
||
183 | // calculate signal difference on good signal level |
||
184 | if(RC_Quality >= 195) |
||
185 | PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
||
186 | else PPM_diff[index] = 0; |
||
187 | PPM_in[index] = tmp; // update channel value |
||
188 | } |
||
189 | index++; // next channel |
||
190 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
||
191 | // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
||
192 | // channels are usually available at the receiver anyway. |
||
193 | // if(index == 5) J3HIGH; else J3LOW; |
||
194 | // if(index == 6) J4HIGH; else J4LOW; |
||
195 | // if(CPUType != ATMEGA644P) // not used as TXD1 |
||
196 | // { |
||
197 | // if(index == 7) J5HIGH; else J5LOW; |
||
198 | // } |
||
199 | } |
||
200 | } |
||
201 | } |
||
202 | |||
203 | #define RCChannel(dimension) PPM_in[staticParams.ChannelAssignment[dimension]] |
||
204 | #define RCDiff(dimension) PPM_diff[staticParams.ChannelAssignment[dimension]] |
||
205 | |||
206 | /* |
||
207 | * This must be called (as the only thing) for each control loop cycle (488 Hz). |
||
208 | */ |
||
209 | void RC_update() { |
||
210 | int16_t tmp1, tmp2; |
||
211 | if(RC_Quality) { |
||
212 | RC_Quality--; |
||
213 | if (NewPpmData-- == 0) { |
||
1645 | - | 214 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP - stickOffsetPitch + RCDiff(CH_PITCH) * staticParams.StickD; |
215 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP - stickOffsetRoll + RCDiff(CH_ROLL) * staticParams.StickD; |
||
1635 | - | 216 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + PPM_diff[staticParams.ChannelAssignment[CH_THROTTLE]] * dynamicParams.UserParams[3] + 120; |
1612 | dongfang | 217 | if (RC_PRTY[CONTROL_THROTTLE] < 0) RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
218 | tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
||
219 | // exponential stick sensitivity in yawring rate |
||
220 | tmp2 = (int32_t) staticParams.StickYawP * ((int32_t)tmp1 * abs(tmp1)) / 512L; // expo y = ax + bx^2 |
||
221 | tmp2 += (staticParams.StickYawP * tmp1) / 4; |
||
222 | RC_PRTY[CONTROL_YAW] = tmp2; |
||
223 | } |
||
224 | } else { // Bad signal |
||
225 | RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] = RC_PRTY[CONTROL_YAW] = 0; |
||
226 | } |
||
227 | } |
||
228 | |||
229 | /* |
||
230 | * Get Pitch, Roll, Throttle, Yaw values |
||
231 | */ |
||
232 | int16_t* RC_getPRTY(void) { |
||
233 | return RC_PRTY; |
||
234 | } |
||
235 | |||
236 | /* |
||
237 | * Get other channel value |
||
238 | */ |
||
239 | int16_t RC_getVariable(uint8_t varNum) { |
||
240 | if (varNum < 4) |
||
241 | // 0th variable is 5th channel (1-based) etc. |
||
242 | return RCChannel(varNum + 5); |
||
243 | /* |
||
244 | * Let's just say: |
||
245 | * The RC variable 4 is hardwired to channel 5 |
||
246 | * The RC variable 5 is hardwired to channel 6 |
||
247 | * The RC variable 6 is hardwired to channel 7 |
||
248 | * The RC variable 7 is hardwired to channel 8 |
||
249 | * Alternatively, one could bind them to channel (4 + varNum) - or whatever... |
||
250 | */ |
||
251 | return PPM_in[varNum + 1]; |
||
252 | } |
||
253 | |||
254 | uint8_t RC_getSignalQuality(void) { |
||
255 | if (RC_Quality >= 160) |
||
256 | return SIGNAL_GOOD; |
||
257 | if (RC_Quality >= 140) |
||
258 | return SIGNAL_OK; |
||
259 | if (RC_Quality >= 120) |
||
260 | return SIGNAL_BAD; |
||
261 | return SIGNAL_LOST; |
||
262 | } |
||
263 | |||
264 | /* |
||
265 | * To should fired only when the right stick is in the center position. |
||
266 | * This will cause the value of pitch and roll stick to be adjusted |
||
267 | * to zero (not just to near zero, as per the assumption in rc.c |
||
268 | * about the rc signal. I had values about 50..70 with a Futaba |
||
269 | * R617 receiver.) This calibration is not strictly necessary, but |
||
270 | * for control logic that depends on the exact (non)center position |
||
271 | * of a stick, it may be useful. |
||
272 | */ |
||
273 | void RC_calibrate(void) { |
||
274 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
||
275 | // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
||
276 | stickOffsetPitch = stickOffsetRoll = 0; |
||
277 | } else { |
||
1645 | - | 278 | stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
279 | stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
||
1612 | dongfang | 280 | } |
281 | } |
||
282 | |||
283 | #define COMMAND_THRESHOLD 85 |
||
1635 | - | 284 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
285 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
||
286 | |||
1612 | dongfang | 287 | uint8_t RC_getCommand(void) { |
1635 | - | 288 | if(RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
289 | // vertical is up |
||
290 | if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
||
1612 | dongfang | 291 | return COMMAND_GYROCAL; |
1635 | - | 292 | if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
1612 | dongfang | 293 | return COMMAND_ACCCAL; |
294 | return COMMAND_NONE; |
||
1635 | - | 295 | } else if(RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
296 | // vertical is down |
||
297 | if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
||
1612 | dongfang | 298 | return COMMAND_STOP; |
1635 | - | 299 | if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
1612 | dongfang | 300 | return COMMAND_START; |
301 | return COMMAND_NONE; |
||
302 | } else { |
||
1635 | - | 303 | // vertical is around center |
1612 | dongfang | 304 | return COMMAND_NONE; |
305 | } |
||
306 | } |
||
307 | |||
308 | /* |
||
309 | * Command arguments on R/C: |
||
310 | * 2--3--4 |
||
311 | * | | + |
||
312 | * 1 0 5 ^ 0 |
||
313 | * | | | |
||
314 | * 8--7--6 |
||
315 | * |
||
316 | * + <-- |
||
317 | * 0 |
||
318 | * |
||
319 | * Not in any of these positions: 0 |
||
320 | */ |
||
1635 | - | 321 | |
1612 | dongfang | 322 | #define ARGUMENT_THRESHOLD 70 |
1635 | - | 323 | #define ARGUMENT_CHANNEL_VERTICAL CH_PITCH |
324 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
||
325 | |||
1612 | dongfang | 326 | uint8_t RC_getArgument(void) { |
1635 | - | 327 | if(RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
328 | // vertical is up |
||
329 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
||
1612 | dongfang | 330 | return 2; |
1635 | - | 331 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
1612 | dongfang | 332 | return 4; |
333 | return 3; |
||
1635 | - | 334 | } else if(RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
335 | // vertical is down |
||
336 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
||
1612 | dongfang | 337 | return 8; |
1635 | - | 338 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
1612 | dongfang | 339 | return 6; |
340 | return 7; |
||
341 | } else { |
||
1635 | - | 342 | // vertical is around center |
343 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
||
1612 | dongfang | 344 | return 1; |
1635 | - | 345 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
1612 | dongfang | 346 | return 5; |
347 | return 0; |
||
348 | } |
||
349 | } |
||
350 | |||
351 | uint8_t RC_getLooping(uint8_t looping) { |
||
352 | // static uint8_t looping = 0; |
||
353 | |||
354 | if(RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_LEFT) { |
||
355 | looping |= (LOOPING_ROLL_AXIS | LOOPING_LEFT); |
||
356 | } else if((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
||
357 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_LEFT)); |
||
358 | } |
||
359 | |||
360 | if(RCChannel(CH_ROLL) < -staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_RIGHT) { |
||
361 | looping |= (LOOPING_ROLL_AXIS | LOOPING_RIGHT); |
||
362 | } else if((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
||
363 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_RIGHT)); |
||
364 | } |
||
365 | |||
366 | if(RCChannel(CH_PITCH) > staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_UP) { |
||
367 | looping |= (LOOPING_PITCH_AXIS | LOOPING_UP); |
||
368 | } else if((looping & LOOPING_UP) && RCChannel(CH_PITCH) < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
||
369 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_UP)); |
||
370 | } |
||
371 | |||
372 | if(RCChannel(CH_PITCH) < -staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_DOWN) { |
||
373 | looping |= (LOOPING_PITCH_AXIS | LOOPING_DOWN); |
||
374 | } else if((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
||
375 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_DOWN)); |
||
376 | } |
||
377 | |||
378 | return looping; |
||
379 | } |
||
380 | |||
381 | /* |
||
382 | * Abstract controls are not used at the moment. |
||
383 | t_control rc_control = { |
||
384 | RC_getPitch, |
||
385 | RC_getRoll, |
||
386 | RC_getYaw, |
||
387 | RC_getThrottle, |
||
388 | RC_getSignalQuality, |
||
389 | RC_calibrate |
||
390 | }; |
||
391 | */ |