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#include <stdlib.h> |
#include "controlMixer.h" |
#include "rc.h" |
#include "externalControl.h" |
#include "failsafeControl.h" |
#include "configuration.h" |
#include "attitude.h" |
#include "commands.h" |
#include "output.h" |
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int16_t controls[4] = { 0, 0, 0, 0 }; |
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// Internal variables for reading commands made with an R/C stick. |
uint8_t lastCommand = COMMAND_NONE; |
uint8_t lastArgument; |
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uint8_t isCommandRepeated = 0; |
uint8_t controlMixer_didReceiveSignal = 0; |
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/* |
* This could be expanded to take arguments from ohter sources than the RC |
* (read: Custom MK RC project) |
*/ |
uint8_t controlMixer_getArgument(void) { |
return lastArgument; |
} |
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/* |
* This could be expanded to take calibrate / start / stop commands from ohter sources |
* than the R/C (read: Custom MK R/C project) |
*/ |
uint8_t controlMixer_getCommand(void) { |
return lastCommand; |
} |
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uint8_t controlMixer_isCommandRepeated(void) { |
return isCommandRepeated; |
} |
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void controlMixer_setNeutral() { |
for (uint8_t i=0; i<VARIABLE_COUNT; i++) { |
variables[i] = RC_getVariable(i); |
} |
EC_setNeutral(); |
FC_setNeutral(); // FC is FailsafeControl, not FlightCtrl. |
} |
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/* |
* Update potentiometer values with limited slew rate. Could be made faster if desired. |
* TODO: It assumes R/C as source. Not necessarily true. |
*/ |
void controlMixer_updateVariables(void) { |
uint8_t i; |
int16_t targetvalue; |
for (i=0; i < VARIABLE_COUNT; i++) { |
targetvalue = RC_getVariable(i); |
if (targetvalue < 0) |
targetvalue = 0; |
if (variables[i] < targetvalue && variables[i] < 255) |
variables[i]++; |
else if (variables[i] > 0 && variables[i] > targetvalue) |
variables[i]--; |
} |
} |
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uint8_t controlMixer_getSignalQuality(void) { |
uint8_t rcQ = RC_getSignalQuality(); |
uint8_t ecQ = EC_getSignalQuality(); |
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// This needs not be the only correct solution... |
return rcQ > ecQ ? rcQ : ecQ; |
} |
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/* |
void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) { |
int16_t tmp = controls[index]; |
controls[index] = newValue; |
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tmp -= newValue; |
tmp /= 2; |
tmp = tmp * tmp; |
// tmp += (newValue >= 0) ? newValue : -newValue; |
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/ * |
if (controlActivity + (uint16_t)tmp >= controlActivity) |
controlActivity += tmp; |
else controlActivity = 0xffff; |
* / |
if (controlActivity + (uint16_t)tmp < 0x8000) |
controlActivity += tmp; |
} |
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#define CADAMPING 10 |
void dampenControlActivity(void) { |
uint32_t tmp = controlActivity; |
tmp *= ((1<<CADAMPING)-1); |
tmp >>= CADAMPING; |
controlActivity = tmp; |
} |
*/ |
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/* |
* Update the variables indicating stick position from the sum of R/C, GPS and external control |
* and whatever other controls we invented in the meantime... |
* Update variables. |
* Decode commands but do not execute them. |
*/ |
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void controlMixer_periodicTask(void) { |
int16_t tempPRYT[4] = { 0, 0, 0, 0 }; |
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// Decode commands. |
uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE; |
uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() : COMMAND_NONE; |
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// Update variables ("potis"). |
if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
controlMixer_updateVariables(); |
controlMixer_didReceiveSignal = 1; |
} else { // Signal is not OK |
// Could handle switch to emergency flight here. |
// throttle is handled elsewhere. |
} |
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if (rcCommand != COMMAND_NONE) { |
isCommandRepeated = (lastCommand == rcCommand); |
lastCommand = rcCommand; |
lastArgument = RC_getArgument(); |
} else if (ecCommand != COMMAND_NONE) { |
isCommandRepeated = (lastCommand == ecCommand); |
lastCommand = ecCommand; |
lastArgument = EC_getArgument(); |
} else { |
// Both sources have no command, or one or both are out. |
// Just set to false. There is no reason to check if the none-command was repeated anyway. |
isCommandRepeated = 0; |
lastCommand = COMMAND_NONE; |
} |
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// This will init the values (not just add to them). |
RC_periodicTaskAndPRYT(tempPRYT); |
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// Add external control to RC |
EC_periodicTaskAndPRYT(tempPRYT); |
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FC_periodicTaskAndPRYT(tempPRYT); |
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// Commit results to global variable and also measure control activity. |
controls[CONTROL_THROTTLE] = tempPRYT[CONTROL_THROTTLE]; |
controls[CONTROL_ELEVATOR] = tempPRYT[CONTROL_ELEVATOR]; |
controls[CONTROL_AILERONS] = tempPRYT[CONTROL_AILERONS]; |
controls[CONTROL_RUDDER] = tempPRYT[CONTROL_RUDDER]; |
// dampenControlActivity(); |
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// We can safely do this even with a bad signal - the variables will not have been updated then. |
configuration_applyVariablesToParams(); |
} |