| 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; |
| } |