| 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 |
|---|
| } |
| |
| // 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]; |
| |
| // We can safely do this even with a bad signal - the variables will not have been updated then. |
| configuration_applyVariablesToParams(); |