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Compare Revisions

• This comparison shows the changes necessary to convert path

  → /branches/dongfang_FC_rewrite/controlMixer.c @ 1872

  → /branches/dongfang_FC_rewrite/controlMixer.c @ 1908

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 1872 → Rev 1908

/branches/dongfang_FC_rewrite/controlMixer.c
60,9 → 60,10
#include "commands.h"
#include "output.h"
uint16_t maxControl[2] = { 0, 0 };
int16_t control[2] = { 0, 0 };
int16_t controlYaw = 0, controlThrottle = 0;
// uint16_t maxControl[2] = { 0, 0 };
uint16_t controlActivity = 0;
int16_t controls[4] = { 0, 0, 0, 0 };
//int16_t controlYaw = 0, controlThrottle = 0;
uint8_t looping = 0;
// Internal variables for reading commands made with an R/C stick.
136,6 → 137,26
return rcQ > ecQ ? rcQ : ecQ;
}
void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) {
int16_t tmp = controls[index];
controls[index] = newValue;
tmp -= newValue;
tmp /= 2;
tmp = tmp * tmp;
// tmp += (newValue >= 0) ? newValue : -newValue;
if (controlActivity + (uint16_t)tmp >= controlActivity)
controlActivity += tmp;
else controlActivity = 0xffff;
}
#define CADAMPING 10
void dampenControlActivity(void) {
uint32_t tmp = controlActivity;
tmp *= ((1<<CADAMPING)-1);
tmp >>= CADAMPING;
controlActivity = tmp;
}
/*
* Update the variables indicating stick position from the sum of R/C, GPS and external control.
*/
142,7 → 163,6
void controlMixer_update(void) {
// calculate Stick inputs by rc channels (P) and changing of rc channels (D)
// TODO: If no signal --> zero.
uint8_t axis;
int16_t tempThrottle;
// takes almost no time...
154,20 → 174,21
// takes about 80 usec.
HC_update();
int16_t* RC_PRTY = RC_getPRTY();
int16_t* EC_PRTY = EC_getPRTY();
int16_t* RC_PRTY = RC_getPRTY();
int16_t* EC_PRTY = EC_getPRTY();
control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH];
control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL];
updateControlAndMeasureControlActivity(CONTROL_PITCH, RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]);
updateControlAndMeasureControlActivity(CONTROL_ROLL, RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]);
updateControlAndMeasureControlActivity(CONTROL_YAW, RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]);
dampenControlActivity();
DebugOut.Analog[14] = controlActivity/10;
tempThrottle = HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]);
controlThrottle = AC_getThrottle(tempThrottle);
controls[CONTROL_THROTTLE] = AC_getThrottle(tempThrottle);
controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW];
// controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW];
DebugOut.Analog[12] = control[PITCH];
DebugOut.Analog[13] = control[ROLL];
if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) {
controlMixer_updateVariables();
configuration_applyVariablesToParams();
190,7 → 211,6
/*
* Record maxima
*/
for (axis = PITCH; axis <= ROLL; axis++) {
if (abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) {
maxControl[axis] = abs(control[axis]) / CONTROL_SCALING;
199,6 → 219,7
} else if (maxControl[axis])
maxControl[axis]--;
}
*/
uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand()
: COMMAND_NONE;