0,0 → 1,58 |
#include "externalControl.h" |
#include "configuration.h" |
#include "controlMixer.h" |
|
ExternalControl_t externalControl; |
uint8_t externalControlActive = 0; |
|
void EC_setNeutral(void) { |
// if necessary. From main.c. |
externalControl.config = 0; |
externalControl.pitch = 0; |
externalControl.roll = 0; |
externalControl.yaw = 0; |
externalControl.throttle = 0; |
|
// From main.c. What does it do?? |
externalControl.digital[0] = 0x55; |
} |
|
void EC_periodicTaskAndPRYT(int16_t* PRYT) { |
if (externalControlActive) { |
externalControlActive--; |
PRYT[CONTROL_ELEVATOR] += externalControl.pitch * 8; |
PRYT[CONTROL_AILERONS] += externalControl.roll * 8; |
PRYT[CONTROL_THROTTLE] += externalControl.throttle * 8; |
PRYT[CONTROL_RUDDER] += externalControl.yaw * 8; |
} |
} |
|
uint8_t EC_getArgument(void) { |
return externalControl.config; |
} |
|
uint8_t EC_getCommand(void) { |
return externalControl.free; |
} |
|
// not implemented. |
int16_t EC_getVariable(uint8_t varNum) { |
return 0; |
} |
|
uint8_t EC_getSignalQuality(void) { |
if (externalControlActive > 40) |
// Configured and heard from recently |
return SIGNAL_GOOD; |
|
if (externalControlActive) |
// Configured and heard from |
return SIGNAL_OK; |
|
if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128)) |
// External control is not even configured. |
return NO_SIGNAL; |
|
// Configured but expired. |
return SIGNAL_LOST; |
} |