2,26 → 2,26 |
#include "controlMixer.h" |
#include "rc.h" |
#include "heightControl.h" |
#include "attitudeControl.h" |
#include "externalControl.h" |
#include "compassControl.h" |
#include "failsafeControl.h" |
#include "naviControl.h" |
#include "configuration.h" |
#include "attitude.h" |
//#include "attitude.h" |
#include "commands.h" |
#include "output.h" |
#include "debug.h" |
#include "definitions.h" |
|
// uint16_t maxControl[2] = { 0, 0 }; |
// uint16_t controlActivity = 0; |
int16_t controls[4] = { 0, 0, 0, 0 }; |
int16_t controls[4]; |
|
// Internal variables for reading commands made with an R/C stick. |
uint8_t lastCommand = COMMAND_NONE; |
uint8_t lastCommand; |
uint8_t lastArgument; |
|
uint8_t isCommandRepeated = 0; |
uint8_t controlMixer_didReceiveSignal = 0; |
uint8_t isCommandRepeated; |
uint8_t controlMixer_didReceiveSignal; |
|
/* |
* This could be expanded to take arguments from ohter sources than the RC |
43,10 → 43,23 |
return isCommandRepeated; |
} |
|
/* |
* TODO: This assumes R/C as source. Not necessarily true. |
*/ |
void controlMixer_updateVariables(void) { |
uint8_t i; |
for (i=0; i < VARIABLE_COUNT; i++) { |
int16_t targetvalue = RC_getVariable(i); |
if (targetvalue < 0) |
variables[i] = 0; |
else if (targetvalue > 255) |
variables[i] = 255; |
else variables[i] = targetvalue; |
} |
} |
|
void controlMixer_setNeutral() { |
for (uint8_t i=0; i<VARIABLE_COUNT; i++) { |
variables[i] = RC_getVariable(i); |
} |
controlMixer_updateVariables(); |
EC_setNeutral(); |
HC_setGround(); |
FC_setNeutral(); // FC is FailsafeControl, not FlightCtrl. |
55,24 → 68,6 |
// MKFlags |= MKFLAG_CALIBRATE; |
} |
|
/* |
* Update potentiometer values with limited slew rate. Could be made faster if desired. |
* TODO: It assumes R/C as source. Not necessarily true. |
*/ |
void controlMixer_updateVariables(void) { |
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(); |
117,7 → 112,7 |
*/ |
|
void controlMixer_periodicTask(void) { |
int16_t tempPRTY[4] = { 0, 0, 0, 0 }; |
int16_t tempRPTY[4] = { 0, 0, 0, 0 }; |
|
// Decode commands. |
uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() |
143,6 → 138,8 |
isCommandRepeated = (lastCommand == ecCommand); |
lastCommand = ecCommand; |
lastArgument = EC_getArgument(); |
if (ecCommand == COMMAND_GYROCAL) debugOut.digital[0] |= DEBUG_COMMAND; |
if (ecCommand == COMMAND_ACCCAL) debugOut.digital[1] |= DEBUG_COMMAND; |
} 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. |
151,36 → 148,38 |
} |
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// This will init the values (not just add to them). |
RC_periodicTaskAndPRTY(tempPRTY); |
RC_periodicTaskAndRPTY(tempRPTY); |
|
// Add external control to RC |
EC_periodicTaskAndPRTY(tempPRTY); |
EC_periodicTaskAndRPTY(tempRPTY); |
|
#ifdef USE_DIRECT_GPS |
if (staticParams.bitConfig & (CFG_NAVI_ENABLED)) |
navigation_periodicTaskAndPRTY(tempPRTY); |
navigation_periodicTaskAndRPTY(tempRPTY); |
#endif |
|
// Add compass control (could also have been before navi, they are independent) |
CC_periodicTaskAndPRTY(tempPRTY); |
// CC_periodicTaskAndRPTY(tempRPTY); |
|
FC_periodicTaskAndPRTY(tempPRTY); |
|
FC_periodicTaskAndRPTY(tempRPTY); |
|
// This is temporary. There might be some emergency height control also. |
if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) { |
// Add height control (could also have been before navi and/or compass, they are independent) |
HC_periodicTaskAndPRTY(tempPRTY); |
HC_periodicTaskAndRPTY(tempRPTY); |
|
// Add attitude control (could also have been before navi and/or compass, they are independent) |
AC_getPRTY(tempPRTY); |
// AC_getRPTY(tempRPTY); |
} |
|
// Commit results to global variable and also measure control activity. |
controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE]; |
controls[CONTROL_PITCH] = tempPRTY[CONTROL_PITCH]; |
controls[CONTROL_ROLL] = tempPRTY[CONTROL_ROLL]; |
controls[CONTROL_YAW] = tempPRTY[CONTROL_YAW]; |
// dampenControlActivity(); |
controls[CONTROL_ROLL] = tempRPTY[CONTROL_ROLL]; |
controls[CONTROL_PITCH] = tempRPTY[CONTROL_PITCH]; |
controls[CONTROL_THROTTLE] = tempRPTY[CONTROL_THROTTLE]; |
controls[CONTROL_YAW] = tempRPTY[CONTROL_YAW]; |
|
debugOut.analog[14] =controls[CONTROL_ROLL]; |
debugOut.analog[15] =controls[CONTROL_PITCH]; |
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// We can safely do this even with a bad signal - the variables will not have been updated then. |
configuration_applyVariablesToParams(); |