1,67 → 1,60 |
#include "externalcontrol.h" |
#include "externalControl.h" |
#include "configuration.h" |
#include "controlMixer.h" |
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ExternalControl_t externalControl; |
uint8_t externalControlActive; |
uint8_t externalControlActive = 0; |
// int16_t EC_PRTY[4]; |
// TODO: Who is going to call this |
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int16_t EC_EATR[4]; |
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// TODO: Who is going to call this |
void EC_setNeutral(void) { |
// if necessary. From main.c. |
externalControl.config = 0; |
externalControl.pitch = 0; |
externalControl.roll = 0; |
externalControl.yaw = 0; |
externalControl.throttle = 0; |
// if necessary. From main.c. |
externalControl.config = 0; |
externalControl.pitch = 0; |
externalControl.roll = 0; |
externalControl.yaw = 0; |
externalControl.throttle = 0; |
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// From main.c. What does it do?? |
externalControl.digital[0] = 0x55; |
// From main.c. What does it do?? |
externalControl.digital[0] = 0x55; |
} |
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int16_t* EC_getEATR(void) { |
return EC_EATR; |
void EC_periodicTaskAndPRTY(int16_t* PRTY) { |
if (externalControlActive) { |
externalControlActive--; |
PRTY[CONTROL_ELEVATOR] += externalControl.pitch * 8; |
PRTY[CONTROL_AILERONS] += externalControl.roll * 8; |
PRTY[CONTROL_THROTTLE] += externalControl.throttle * 8; |
PRTY[CONTROL_RUDDER] += externalControl.yaw * 8; |
} |
} |
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uint8_t EC_getArgument(void) { |
return externalControl.config; |
return externalControl.config; |
} |
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uint8_t EC_getCommand(void) { |
return externalControl.free; |
return externalControl.free; |
} |
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// not implemented. |
int16_t EC_getVariable(uint8_t varNum) { |
return 0; |
return 0; |
} |
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void EC_update() { |
if (externalControlActive) { |
externalControlActive--; |
EC_EATR[CONTROL_ELEVATOR] = externalControl.pitch * 4; |
EC_EATR[CONTROL_AILERONS] = externalControl.roll * 4; |
EC_EATR[CONTROL_THROTTLE] = externalControl.throttle; |
EC_EATR[CONTROL_RUDDER ] = externalControl.yaw; // No stickP or similar?????? |
} else { |
EC_EATR[CONTROL_ELEVATOR] = EC_EATR[CONTROL_AILERONS] = EC_EATR[CONTROL_THROTTLE] = EC_EATR[CONTROL_RUDDER] = 0; |
} |
} |
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uint8_t EC_getSignalQuality(void) { |
if (externalControlActive > 40) |
// Configured and heard from recently |
return SIGNAL_GOOD; |
|
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if (externalControlActive) |
// Configured and heard from |
return SIGNAL_OK; |
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if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128)) |
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if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128)) |
// External control is not even configured. |
return NO_SIGNAL; |
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// Configured but expired. |
return SIGNAL_LOST; |
} |