1,15 → 1,16 |
#include "externalControl.h" |
#include "configuration.h" |
#include "controlMixer.h" |
//#include "controlMixer.h" |
#include "definitions.h" |
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ExternalControl_t externalControl; |
uint8_t externalControlActive = 0; |
// int16_t EC_PRTY[4]; |
volatile uint8_t externalControlActive; |
// TODO: Who is going to call this |
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void EC_setNeutral(void) { |
// if necessary. From main.c. |
externalControl.config = 0; |
externalControl.command = 0; |
externalControl.argument = 0; |
externalControl.pitch = 0; |
externalControl.roll = 0; |
externalControl.yaw = 0; |
19,22 → 20,22 |
externalControl.digital[0] = 0x55; |
} |
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void EC_periodicTaskAndPRTY(int16_t* PRTY) { |
void EC_periodicTaskAndRPTY(int16_t* RPTY) { |
if (externalControlActive) { |
externalControlActive--; |
PRTY[CONTROL_PITCH] += externalControl.pitch * (int16_t) staticParams.stickP; |
PRTY[CONTROL_ROLL] += externalControl.roll * (int16_t) staticParams.stickP; |
PRTY[CONTROL_THROTTLE] += externalControl.throttle; |
PRTY[CONTROL_YAW] += externalControl.yaw; // No stickP or similar?????? |
RPTY[CONTROL_PITCH] += externalControl.pitch * (int16_t) staticParams.stickP; |
RPTY[CONTROL_ROLL] += externalControl.roll * (int16_t) staticParams.stickP; |
RPTY[CONTROL_THROTTLE] += externalControl.throttle; |
RPTY[CONTROL_YAW] += externalControl.yaw; // No stickP or similar?????? |
} |
} |
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uint8_t EC_getArgument(void) { |
return externalControl.config; |
return externalControl.argument; |
} |
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uint8_t EC_getCommand(void) { |
return externalControl.free; |
return externalControl.command; |
} |
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// not implemented. |
51,7 → 52,7 |
// Configured and heard from |
return SIGNAL_OK; |
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if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128)) |
if (dynamicParams.externalControl < 128) |
// External control is not even configured. |
return NO_SIGNAL; |
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