0,0 → 1,67 |
#include "controlMixer.h" |
#include "timer0.h" |
#include "configuration.h" |
#include "twimaster.h" |
#include "flight.h" |
#include "output.h" |
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uint16_t emergencyFlightTime; |
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void setFailsafeFlightParameters(void) { |
flight_setParameters(0, 90, 120, 90, 120); |
} |
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void setNormalFlightParameters(void) { |
flight_setParameters(staticParams.IFactor, dynamicParams.gyroP, |
staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
dynamicParams.gyroP, staticParams.yawIFactor); |
} |
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void FC_setNeutral(void) { |
setNormalFlightParameters(); |
} |
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void FC_periodicTaskAndPRTY(uint16_t* PRTY) { |
if (controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
if (controlMixer_didReceiveSignal) |
beepRCAlarm(); // Only make alarm if a control signal was received before the signal loss. |
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// There are the possibilities: We are not yet in emergency flight, we are already in emergency flight. |
if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) { |
if (isFlying > 256) { |
MKFlags |= MKFLAG_EMERGENCY_FLIGHT; // Set flag for emergency landing |
setFailsafeFlightParameters(); |
// Set the time in whole seconds. |
if (staticParams.emergencyFlightDuration > (65535 - F_MAINLOOP) / F_MAINLOOP) |
emergencyFlightTime = 0xffff; |
else |
emergencyFlightTime = (uint16_t) staticParams.emergencyFlightDuration * F_MAINLOOP; |
} |
} else { |
if (emergencyFlightTime) { |
emergencyFlightTime--; |
} else { |
// stop motors but stay in emergency flight. |
MKFlags &= ~(MKFLAG_MOTOR_RUN); |
} |
} |
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// In either case, use e. throttle. |
PRTY[CONTROL_THROTTLE] = staticParams.emergencyThrottle; // Set emergency throttle |
} else { |
// Signal is OK. |
if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
MKFlags &= ~MKFLAG_EMERGENCY_FLIGHT; // Clear flag for emergency landing |
setNormalFlightParameters(); |
} |
} |
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/* |
* If a Bl-Ctrl is missing, prevent takeoff. |
*/ |
if (missingMotor) { |
// if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
if (isFlying > 1 && isFlying < 50 && PRTY[CONTROL_THROTTLE] > 0) isFlying = 1; // keep within lift off condition |
PRTY[CONTROL_THROTTLE] = staticParams.minThrottle; // reduce throttle to min to prevent takeoff |
} |
} |