| 1,22 → 1,10 |
|---|
| #include <inttypes.h> |
| /* |
| * The throttle range is normalized to [0, THROTTLE_RANGE[ |
| * This is the normal range. Exceeding it a little is allowed. |
| */ |
| #define THROTTLE_RANGE 256 |
| |
| /* |
| * The stick (pitch, roll, yaw) ranges are normalized to [-STICK_RANGE, STICK_RANGE] |
| * This is the normal range. Exceeding it a little is allowed. |
| */ |
| #define STICK_RANGE 256 |
| |
| /* |
| * An attempt to define a generic control. That could be an R/C receiver, an external control |
| * (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl. |
| * This resembles somewhat an object-oriented class definition (except that there are no virtuals). |
| * The idea is that the combination of different control inputs, of the way they superimpose upon |
| * each other, the proirities between them and the behavior in case that one fails is simplified, |
| * each other, the priorities between them and the behavior in case that one fails is simplified, |
| * and all in one place. |
| */ |
| |
| 35,22 → 23,12 |
|---|
| #define SIGNAL_GOOD 4 |
| |
| /* |
| * An enumeration over the start motors, stop motors, calibrate gyros |
| * and calibreate acc. meters commands. |
| */ |
| #define COMMAND_NONE 0 |
| #define COMMAND_START 6 |
| #define COMMAND_STOP 8 |
| #define COMMAND_GYROCAL 2 |
| #define COMMAND_ACCCAL 4 |
| |
| /* |
| * The PRTY arrays |
| */ |
| #define CONTROL_PITCH 0 |
| #define CONTROL_ROLL 1 |
| #define CONTROL_PITCH 0 |
| #define CONTROL_ROLL 1 |
| #define CONTROL_THROTTLE 2 |
| #define CONTROL_YAW 3 |
| #define CONTROL_YAW 3 |
| |
| /* |
| * Looping flags. |
| 93,15 → 71,18 |
|---|
| /* |
| * Our output. |
| */ |
| extern int16_t control[2], controlYaw, controlThrottle; |
| // extern int16_t stickOffsetNick, stickOffsetRoll; |
| extern int16_t control[2]; |
| extern int16_t controlYaw, controlThrottle; |
| extern uint16_t maxControl[2]; |
| extern uint8_t looping; |
| |
| extern volatile uint8_t MKFlags; |
| extern uint16_t isFlying; |
| |
| void controlMixer_initVariables(void); |
| void controlMixer_updateVariables(void); |
| |
| void controlMixer_setNeutral(uint8_t calibrate); |
| void controlMixer_setNeutral(void); |
| |
| /* |
| * Update the exported variables. Called at every flight control cycle. |
| 118,11 → 99,11 |
|---|
| uint8_t controlMixer_getSignalQuality(void); |
| |
| /* |
| * The motor throttles can be set in an [0..256[ interval. |
| * The calculation of motor throttle values from sensor and control information (basically |
| * flight.c) take place in an [0..256*CONTROL_SCALING[ interval for better precision. |
| * The controls operate in a [-150 * CONTROL_SCALING, 150 * CONTROL_SCALING] interval |
| * Throttle is [0..300 * CONTROL_SCALING]. |
| * (just about. No precision needed). |
| */ |
| #define CONTROL_SCALING 4 |
| #define CONTROL_SCALING (1024/256) |
| |
| /* |
| * Gets the argument for the current command (a number). |
| 139,8 → 120,8 |
|---|
| * |
| * Not in any of these positions: 0 |
| */ |
| // void controlMixer_handleCommands(void); |
| uint8_t controlMixer_getArgument(void); |
| uint8_t controlMixer_isCommandRepeated(void); |
| // TODO: Abstract away if possible. |
| // void controlMixer_setCompassCalState(void); |
| // void controlMixer_updateCompass(void); |
| uint8_t controlMixer_testCompassCalState(void); |