| 11,9 → 11,12 |
|---|
| // The channel array is 0-based! |
| volatile int16_t PPM_in[MAX_CHANNELS]; |
| volatile uint8_t RCQuality; |
| |
| uint8_t lastRCCommand = COMMAND_NONE; |
| uint8_t commandTimer = 0; |
| |
| uint8_t lastFlightMode = FLIGHT_MODE_NONE; |
| |
| /*************************************************************** |
| * 16bit timer 1 is used to decode the PPM-Signal |
| ***************************************************************/ |
| 149,6 → 152,45 |
|---|
| #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
| #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
| |
| #define RC_SCALING 4 |
| |
| uint8_t getControlModeSwitch() { |
| int16_t channel = RCChannel(CH_MODESWITCH) + POT_OFFSET; |
| uint8_t flightMode = channel < 256/3 ? FLIGHT_MODE_MANUAL : |
| (channel > 256*2/3 ? FLIGHT_MODE_ANGLES : FLIGHT_MODE_RATE); |
| return flightMode; |
| } |
| |
| // Gyro calibration is performed as.... well mode switch with no throttle and no airspeed would be nice. |
| // Maybe simply: Very very low throttle. |
| // Throttle xlow for COMMAND_TIMER: GYROCAL (once). |
| // mode switched: CHMOD |
| |
| uint8_t RC_getCommand(void) { |
| uint8_t flightMode = getControlModeSwitch(); |
| |
| if (lastFlightMode != flightMode) { |
| lastFlightMode = flightMode; |
| lastRCCommand = COMMAND_CHMOD; |
| return lastRCCommand; |
| } |
| |
| int16_t channel = RCChannel(CH_MODESWITCH) + POT_OFFSET; |
| if (channel <= -32) { // <= 900 us |
| if (commandTimer == COMMAND_TIMER) { |
| lastRCCommand = COMMAND_GYROCAL; |
| } |
| if (commandTimer <= COMMAND_TIMER) { |
| commandTimer++; |
| } |
| } else commandTimer = 0; |
| return lastRCCommand; |
| } |
| |
| uint8_t RC_getArgument(void) { |
| return lastFlightMode; |
| } |
| |
| /* |
| * Get Pitch, Roll, Throttle, Yaw values |
| */ |
| 155,11 → 197,14 |
|---|
| void RC_periodicTaskAndPRTY(int16_t* PRTY) { |
| if (RCQuality) { |
| RCQuality--; |
| PRTY[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR); |
| PRTY[CONTROL_AILERONS] = RCChannel(CH_AILERONS); |
| PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE); |
| PRTY[CONTROL_RUDDER] = RCChannel(CH_RUDDER); |
| PRTY[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) * RC_SCALING; |
| PRTY[CONTROL_AILERONS] = RCChannel(CH_AILERONS) * RC_SCALING; |
| PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) * RC_SCALING; |
| PRTY[CONTROL_RUDDER] = RCChannel(CH_RUDDER) * RC_SCALING; |
| |
| debugOut.analog[16] = PRTY[CONTROL_ELEVATOR]; |
| debugOut.analog[17] = PRTY[CONTROL_THROTTLE]; |
| |
| uint8_t command = COMMAND_NONE; //RC_getStickCommand(); |
| if (lastRCCommand == command) { |
| // Keep timer from overrunning. |
| 209,55 → 254,3 |
|---|
| void RC_calibrate(void) { |
| // Do nothing. |
| } |
| |
| uint8_t RC_getCommand(void) { |
| if (commandTimer == COMMAND_TIMER) { |
| // Stick has been held long enough; command committed. |
| return lastRCCommand; |
| } |
| // Not yet sure what the command is. |
| return COMMAND_NONE; |
| } |
| |
| /* |
| * Command arguments on R/C: |
| * 2--3--4 |
| * | | + |
| * 1 0 5 ^ 0 |
| * | | | |
| * 8--7--6 |
| * |
| * + <-- |
| * 0 |
| * |
| * Not in any of these positions: 0 |
| */ |
| |
| #define ARGUMENT_THRESHOLD 70 |
| #define ARGUMENT_CHANNEL_VERTICAL CH_ELEVATOR |
| #define ARGUMENT_CHANNEL_HORIZONTAL CH_AILERONS |
| |
| uint8_t RC_getArgument(void) { |
| if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
| // vertical is up |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| return 2; |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| return 4; |
| return 3; |
| } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
| // vertical is down |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| return 8; |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| return 6; |
| return 7; |
| } else { |
| // vertical is around center |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| return 1; |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| return 5; |
| return 0; |
| } |
| } |