Subversion Repositories FlightCtrl

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Ignore whitespace Rev 2098 → Rev 2099

/branches/dongfang_FC_fixedwing/externalControl.c
1,67 → 1,60
#include "externalcontrol.h"
#include "externalControl.h"
#include "configuration.h"
#include "controlMixer.h"
 
ExternalControl_t externalControl;
uint8_t externalControlActive;
uint8_t externalControlActive = 0;
// int16_t EC_PRTY[4];
// TODO: Who is going to call this
 
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;
// 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;
// From main.c. What does it do??
externalControl.digital[0] = 0x55;
}
 
int16_t* EC_getEATR(void) {
return EC_EATR;
void EC_periodicTaskAndPRTY(int16_t* PRTY) {
if (externalControlActive) {
externalControlActive--;
PRTY[CONTROL_ELEVATOR] += externalControl.pitch * 8;
PRTY[CONTROL_AILERONS] += externalControl.roll * 8;
PRTY[CONTROL_THROTTLE] += externalControl.throttle * 8;
PRTY[CONTROL_RUDDER] += externalControl.yaw * 8;
}
}
 
uint8_t EC_getArgument(void) {
return externalControl.config;
return externalControl.config;
}
 
uint8_t EC_getCommand(void) {
return externalControl.free;
return externalControl.free;
}
 
// not implemented.
int16_t EC_getVariable(uint8_t varNum) {
return 0;
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))
 
if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128))
// External control is not even configured.
return NO_SIGNAL;
 
// Configured but expired.
return SIGNAL_LOST;
}