| /branches/dongfang_FC_fixedwing/arduino_atmega328/README.txt |
|---|
| 27,3 → 27,14 |
| ADC6 Battery voltage divider |
| ADC7 Airspeed sensor |
| To do: |
| - Throttle shut off in both versions |
| - Check rc.h in both versions |
| - Implement servo limiter |
| Big Wing: |
| - Redundant supply with separate batt and Trojan BEC |
| - XBee |
| /branches/dongfang_FC_fixedwing/arduino_atmega328/rc.c |
|---|
| 216,15 → 216,10 |
| return SIGNAL_LOST; |
| } |
| /* |
| * To should fired only when the right stick is in the center position. |
| * This will cause the value of pitch and roll stick to be adjusted |
| * to zero (not just to near zero, as per the assumption in rc.c |
| * about the rc signal. I had values about 50..70 with a Futaba |
| * R617 receiver.) This calibration is not strictly necessary, but |
| * for control logic that depends on the exact (non)center position |
| * of a stick, it may be useful. |
| */ |
| void RC_calibrate(void) { |
| // Do nothing. |
| } |
| int16_t RC_getZeroThrottle() { |
| return TIME (-0.5); |
| } |
| /branches/dongfang_FC_fixedwing/controlMixer.c |
|---|
| 8,7 → 8,8 |
| #include "commands.h" |
| #include "output.h" |
| int16_t controls[4] = { 0, 0, 0, 0 }; |
| // The -1024 is an arbrtrary, very low value that will shut off the motor. This is default until the control mixer runs for the first time. |
| int16_t controls[4] = { 0, 0, 0, -1024 }; |
| // Internal variables for reading commands made with an R/C stick. |
| uint8_t lastCommand = COMMAND_NONE; |
| 107,7 → 108,7 |
| */ |
| void controlMixer_periodicTask(void) { |
| int16_t tempPRYT[4] = { 0, 0, 0, 0 }; |
| int16_t tempPRYT[4] = { 0, 0, 0, RC_getZeroThrottle()}; |
| // Decode commands. |
| uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE; |
| /branches/dongfang_FC_fixedwing/rc.c |
|---|
| 16,6 → 16,7 |
| uint8_t lastFlightMode = FLIGHT_MODE_NONE; |
| #define TIME(s) ((int16_t)(((long)F_CPU/(long)8000)*(float)s)) |
| /*************************************************************** |
| * 16bit timer 1 is used to decode the PPM-Signal |
| ***************************************************************/ |
| 227,15 → 228,10 |
| return SIGNAL_LOST; |
| } |
| /* |
| * To should fired only when the right stick is in the center position. |
| * This will cause the value of pitch and roll stick to be adjusted |
| * to zero (not just to near zero, as per the assumption in rc.c |
| * about the rc signal. I had values about 50..70 with a Futaba |
| * R617 receiver.) This calibration is not strictly necessary, but |
| * for control logic that depends on the exact (non)center position |
| * of a stick, it may be useful. |
| */ |
| void RC_calibrate(void) { |
| // Do nothing. |
| } |
| int16_t RC_getZeroThrottle() { |
| return TIME (-0.5); |
| } |