| 0,0 → 1,67 |
|---|
| #include "externalcontrol.h" |
| #include "configuration.h" |
| #include "controlMixer.h" |
| |
| ExternalControl_t externalControl; |
| uint8_t externalControlActive; |
| |
| int16_t EC_EATR[4]; |
| |
| // TODO: Who is going to call this |
| void EC_setNeutral(void) { |
| // if necessary. From main.c. |
| externalControl.config = 0; |
| externalControl.pitch = 0; |
| externalControl.roll = 0; |
| externalControl.yaw = 0; |
| externalControl.throttle = 0; |
| |
| // From main.c. What does it do?? |
| externalControl.digital[0] = 0x55; |
| } |
| |
| int16_t* EC_getEATR(void) { |
| return EC_EATR; |
| } |
| |
| uint8_t EC_getArgument(void) { |
| return externalControl.config; |
| } |
| |
| uint8_t EC_getCommand(void) { |
| return externalControl.free; |
| } |
| |
| // not implemented. |
| int16_t EC_getVariable(uint8_t varNum) { |
| return 0; |
| } |
| |
| void EC_update() { |
| if (externalControlActive) { |
| externalControlActive--; |
| EC_EATR[CONTROL_ELEVATOR] = externalControl.pitch * 4; |
| EC_EATR[CONTROL_AILERONS] = externalControl.roll * 4; |
| EC_EATR[CONTROL_THROTTLE] = externalControl.throttle; |
| EC_EATR[CONTROL_RUDDER ] = externalControl.yaw; // No stickP or similar?????? |
| } else { |
| EC_EATR[CONTROL_ELEVATOR] = EC_EATR[CONTROL_AILERONS] = EC_EATR[CONTROL_THROTTLE] = EC_EATR[CONTROL_RUDDER] = 0; |
| } |
| } |
| |
| uint8_t EC_getSignalQuality(void) { |
| if (externalControlActive > 40) |
| // Configured and heard from recently |
| return SIGNAL_GOOD; |
| |
| if (externalControlActive) |
| // Configured and heard from |
| return SIGNAL_OK; |
| |
| if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128)) |
| // External control is not even configured. |
| return NO_SIGNAL; |
| |
| // Configured but expired. |
| return SIGNAL_LOST; |
| } |