80,7 → 80,7 |
* (read: Custom MK RC project) |
*/ |
uint8_t controlMixer_getArgument(void) { |
return lastArgument; |
return lastArgument; |
} |
|
/* |
88,16 → 88,19 |
* than the R/C (read: Custom MK R/C project) |
*/ |
uint8_t controlMixer_getCommand(void) { |
return lastCommand; |
return lastCommand; |
} |
|
uint8_t controlMixer_isCommandRepeated(void) { |
return isCommandRepeated; |
return isCommandRepeated; |
} |
|
void controlMixer_setNeutral() { |
EC_setNeutral(); |
HC_setGround(); |
for (uint8_t i=0; i<VARIABLE_COUNT; i++) { |
variables[i] = 0; |
} |
EC_setNeutral(); |
HC_setGround(); |
} |
|
/* |
105,10 → 108,10 |
* No slew rate limitation. |
*/ |
void controlMixer_initVariables(void) { |
uint8_t i; |
for (i = 0; i < 8; i++) { |
variables[i] = RC_getVariable(i); |
} |
uint8_t i; |
for (i=0; i < VARIABLE_COUNT; i++) { |
variables[i] = RC_getVariable(i); |
} |
} |
|
/* |
116,44 → 119,44 |
* TODO: It assumes R/C as source. Not necessarily true. |
*/ |
void controlMixer_updateVariables(void) { |
uint8_t i; |
int16_t targetvalue; |
for (i = 0; i < 8; i++) { |
targetvalue = RC_getVariable(i); |
if (targetvalue < 0) |
targetvalue = 0; |
if (variables[i] < targetvalue && variables[i] < 255) |
variables[i]++; |
else if (variables[i] > 0 && variables[i] > targetvalue) |
variables[i]--; |
} |
uint8_t i; |
int16_t targetvalue; |
for (i=0; i < VARIABLE_COUNT; i++) { |
targetvalue = RC_getVariable(i); |
if (targetvalue < 0) |
targetvalue = 0; |
if (variables[i] < targetvalue && variables[i] < 255) |
variables[i]++; |
else if (variables[i] > 0 && variables[i] > targetvalue) |
variables[i]--; |
} |
} |
|
uint8_t controlMixer_getSignalQuality(void) { |
uint8_t rcQ = RC_getSignalQuality(); |
uint8_t ecQ = EC_getSignalQuality(); |
// This needs not be the only correct solution... |
return rcQ > ecQ ? rcQ : ecQ; |
uint8_t rcQ = RC_getSignalQuality(); |
uint8_t ecQ = EC_getSignalQuality(); |
// This needs not be the only correct solution... |
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; |
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; |
uint32_t tmp = controlActivity; |
tmp *= ((1<<CADAMPING)-1); |
tmp >>= CADAMPING; |
controlActivity = tmp; |
} |
|
/* |
160,99 → 163,99 |
* Update the variables indicating stick position from the sum of R/C, GPS and external control. |
*/ |
void controlMixer_update(void) { |
// calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
// TODO: If no signal --> zero. |
int16_t tempThrottle; |
// calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
// TODO: If no signal --> zero. |
int16_t tempThrottle; |
|
// takes almost no time... |
RC_update(); |
|
// takes almost no time... |
EC_update(); |
|
// takes about 80 usec. |
HC_update(); |
|
int16_t* RC_PRTY = RC_getPRTY(); |
int16_t* EC_PRTY = EC_getPRTY(); |
|
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(); |
|
// takes almost no time... |
RC_update(); |
//debugOut.analog[14] = controlActivity/10; |
|
tempThrottle = HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]); |
controls[CONTROL_THROTTLE] = AC_getThrottle(tempThrottle); |
|
// controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
|
if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
controlMixer_updateVariables(); |
configuration_applyVariablesToParams(); |
//looping = RC_getLooping(looping); |
} else { // Signal is not OK |
// Could handle switch to emergency flight here. |
// throttle is handled elsewhere. |
// looping = 0; |
} |
|
// part1a end. |
|
/* This is not really necessary with the dead-band feature on all sticks (see rc.c) |
if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
if (controlYaw > 2) controlYaw-= 2; |
else if (controlYaw< -2) controlYaw += 2; |
else controlYaw = 0; |
} |
*/ |
|
/* |
* Record maxima |
for (axis = PITCH; axis <= ROLL; axis++) { |
if (abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) { |
maxControl[axis] = abs(control[axis]) / CONTROL_SCALING; |
if (maxControl[axis] > 100) |
maxControl[axis] = 100; |
} else if (maxControl[axis]) |
maxControl[axis]--; |
} |
*/ |
|
// takes almost no time... |
EC_update(); |
|
// takes about 80 usec. |
HC_update(); |
|
int16_t* RC_PRTY = RC_getPRTY(); |
int16_t* EC_PRTY = EC_getPRTY(); |
|
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]); |
controls[CONTROL_THROTTLE] = AC_getThrottle(tempThrottle); |
|
// controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
|
if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
controlMixer_updateVariables(); |
configuration_applyVariablesToParams(); |
//looping = RC_getLooping(looping); |
} else { // Signal is not OK |
// Could handle switch to emergency flight here. |
// throttle is handled elsewhere. |
// looping = 0; |
} |
|
// part1a end. |
|
/* This is not really necessary with the dead-band feature on all sticks (see rc.c) |
if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
if (controlYaw > 2) controlYaw-= 2; |
else if (controlYaw< -2) controlYaw += 2; |
else controlYaw = 0; |
} |
*/ |
|
/* |
* Record maxima |
for (axis = PITCH; axis <= ROLL; axis++) { |
if (abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) { |
maxControl[axis] = abs(control[axis]) / CONTROL_SCALING; |
if (maxControl[axis] > 100) |
maxControl[axis] = 100; |
} else if (maxControl[axis]) |
maxControl[axis]--; |
} |
*/ |
|
uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() |
: COMMAND_NONE; |
uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() |
: COMMAND_NONE; |
|
if (rcCommand != COMMAND_NONE) { |
isCommandRepeated = (lastCommand == rcCommand); |
lastCommand = rcCommand; |
lastArgument = RC_getArgument(); |
} else if (ecCommand != COMMAND_NONE) { |
isCommandRepeated = (lastCommand == ecCommand); |
lastCommand = ecCommand; |
lastArgument = EC_getArgument(); |
} else { |
// Both sources have no command, or one or both are out. |
// Just set to false. There is no reason to check if the none-command was repeated anyway. |
isCommandRepeated = 0; |
lastCommand = COMMAND_NONE; |
} |
|
/* |
if (isCommandRepeated) |
DebugOut.Digital[0] |= DEBUG_COMMANDREPEATED; |
else |
DebugOut.Digital[0] &= ~DEBUG_COMMANDREPEATED; |
if (rcCommand) |
DebugOut.Digital[1] |= DEBUG_COMMANDREPEATED; |
else |
DebugOut.Digital[1] &= ~DEBUG_COMMANDREPEATED; |
*/ |
uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() |
: COMMAND_NONE; |
uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() |
: COMMAND_NONE; |
|
if (rcCommand != COMMAND_NONE) { |
isCommandRepeated = (lastCommand == rcCommand); |
lastCommand = rcCommand; |
lastArgument = RC_getArgument(); |
} else if (ecCommand != COMMAND_NONE) { |
isCommandRepeated = (lastCommand == ecCommand); |
lastCommand = ecCommand; |
lastArgument = EC_getArgument(); |
} else { |
// Both sources have no command, or one or both are out. |
// Just set to false. There is no reason to check if the none-command was repeated anyway. |
isCommandRepeated = 0; |
lastCommand = COMMAND_NONE; |
} |
|
/* |
if (isCommandRepeated) |
DebugOut.Digital[0] |= DEBUG_COMMANDREPEATED; |
else |
DebugOut.Digital[0] &= ~DEBUG_COMMANDREPEATED; |
if (rcCommand) |
DebugOut.Digital[1] |= DEBUG_COMMANDREPEATED; |
else |
DebugOut.Digital[1] &= ~DEBUG_COMMANDREPEATED; |
*/ |
} |
|
// TODO: Integrate into command system. |
uint8_t controlMixer_testCompassCalState(void) { |
return RC_testCompassCalState(); |
return RC_testCompassCalState(); |
} |