WebSVN - FlightCtrl - Diff - Rev 2109 and 2110 - /branches/dongfang_FC


#include <stdlib.h>
#include <avr/io.h>
#include <avr/interrupt.h>
 
#include "rc.h"
#include "controlMixer.h"
#include "configuration.h"
#include "commands.h"
#include "output.h"
 
// The channel array is 0-based!
volatile int16_t PPM_in[MAX_CHANNELS];
volatile uint8_t RCQuality;
 
uint8_t lastRCCommand = COMMAND_NONE;
uint8_t lastFlightMode = FLIGHT_MODE_NONE;
 
#define TIME(s) ((int16_t)(((long)F_CPU/(long)8000)*(float)s))
/***************************************************************
 *  16bit timer 1 is used to decode the PPM-Signal            
 ***************************************************************/
void RC_Init(void) {
  uint8_t sreg = SREG;
 
  // disable all interrupts before reconfiguration
  cli();
 
  // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1
  DDRD &= ~(1<<6);
  PORTD |= (1<<PORTD6);
 
  // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5)
  // set as output
  DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3);
  // low level
  PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3));
 
  // PD3 can't be used if 2nd UART is activated
  // because TXD1 is at that port
  if (CPUType != ATMEGA644P) {
    DDRD |= (1<<PORTD3);
    PORTD &= ~(1<<PORTD3);
  }
 
  // Timer/Counter1 Control Register A, B, C
 
  // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0)
  // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0)
  // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1)
  // Enable input capture noise cancler (bit: ICNC1=1)
  // Trigger on positive edge of the input capture pin (bit: ICES1=1),
  // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2�s
  // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s.
  TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) | (1 << WGM11) | (1 << WGM10));
  TCCR1B &= ~((1 << WGM13) | (1 << WGM12) | (1 << CS12));
  TCCR1B |= (1 << CS11) | (1 << ICES1) | (1 << ICNC1);
  TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B));
 
  // Timer/Counter1 Interrupt Mask Register
  // Enable Input Capture Interrupt (bit: ICIE1=1)
  // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0)
  // Enable Overflow Interrupt (bit: TOIE1=0)
  TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1));
  TIMSK1 |= (1<<ICIE1);
 
  RCQuality = 0;
 
  SREG = sreg;
}
 
/********************************************************************/
/*         Every time a positive edge is detected at PD6            */
/********************************************************************/
/*                               t-Frame
    <----------------------------------------------------------------------->
     ____   ______   _____   ________                ______    sync gap      ____
    |    | |      | |     | |        |              |      |                |
    |    | |      | |     | |        |              |      |                |
 ___|    |_|      |_|     |_|        |_.............|      |________________|
    <-----><-------><------><-----------            <------>                <---
 t0       t1      t2       t4                     tn                     t0
 
 The PPM-Frame length is 22.5 ms.
 Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse.
 The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms.
 The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms.
 The minimum duration of all channels at minimum value is  8 * 1 ms = 8 ms.
 The maximum duration of all channels at maximum value is  8 * 2 ms = 16 ms.
 The remaining time of (22.5 - 8 ms) ms = 14.5 ms  to (22.5 - 16 ms) ms = 6.5 ms is
 the syncronization gap.
 */
ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms
  int16_t signal, tmp;
  static int16_t index;
  static uint16_t oldICR1 = 0;
 
  // 16bit Input Capture Register ICR1 contains the timer value TCNT1
  // at the time the edge was detected
 
  // calculate the time delay to the previous event time which is stored in oldICR1
  // calculatiing the difference of the two uint16_t and converting the result to an int16_t
  // implicit handles a timer overflow 65535 -> 0 the right way.
  signal = (uint16_t) ICR1 - oldICR1;
  oldICR1 = ICR1;
 
  //sync gap? (3.5 ms < signal < 25.6 ms)
  if (signal > TIME(3.5)) {
    index = 0;
  } else { // within the PPM frame
    if (index < MAX_CHANNELS) { // PPM24 supports 12 channels
      // check for valid signal length (0.8 ms < signal < 2.2 ms)
      if ((signal >= TIME(0.8)) && (signal < TIME(2.2))) {
        // shift signal to zero symmetric range  -154 to 159
        //signal -= 3750; // theoretical value
        signal -= (TIME(1.5) + RC_TRIM); // best value with my Futaba in zero trim.
        // check for stable signal
        if (abs(signal - PPM_in[index]) < TIME(0.05)) {
          if (RCQuality < 200)
            RCQuality += 10;
          else
            RCQuality = 200;
        }
        // If signal is the same as before +/- 1, just keep it there. Naah lets get rid of this slimy sticy stuff.
        // if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) {
          // In addition, if the signal is very close to 0, just set it to 0.
        if (signal >= -1 && signal <= 1) {
          tmp = 0;
        //} else {
        //  tmp = PPM_in[index];
        //  }
        } else
          tmp = signal;
        PPM_in[index] = tmp; // update channel value
      }
      index++; // next channel
      // demux sum signal for channels 5 to 7 to J3, J4, J5
      // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the
      // channels are usually available at the receiver anyway.
      // if(index == 5) J3HIGH; else J3LOW;
      // if(index == 6) J4HIGH; else J4LOW;
      // if(CPUType != ATMEGA644P) // not used as TXD1
      //  {
      //    if(index == 7) J5HIGH; else J5LOW;
      //  }
    }
  }
}
 
#define RCChannel(dimension) PPM_in[channelMap.channels[dimension]]
#define COMMAND_CHANNEL_VERTICAL CH_THROTTLE
#define COMMAND_CHANNEL_HORIZONTAL CH_YAW
 
 
 
uint8_t getControlModeSwitch(void) {
        int16_t channel = RCChannel(CH_MODESWITCH);
        uint8_t flightMode = channel < -TIME(0.17) ? FLIGHT_MODE_MANUAL : (channel > TIME(0.17) ? FLIGHT_MODE_ANGLES : FLIGHT_MODE_RATE);
        return flightMode;
}
 
// Gyro calibration is performed as.... well mode switch with no throttle and no airspeed would be nice.
// Maybe simply: Very very low throttle.
// Throttle xlow for COMMAND_TIMER: GYROCAL (once).
// mode switched: CHMOD
 
uint8_t RC_getCommand(void) {
        uint8_t flightMode = getControlModeSwitch();
 
        if (lastFlightMode != flightMode) {
                lastFlightMode = flightMode;
                lastRCCommand = COMMAND_CHMOD;
                return lastRCCommand;
        }
 
        int16_t channel = RCChannel(CH_THROTTLE);
 
        if (channel <= -TIME(0.55)) {
          lastRCCommand = COMMAND_GYROCAL;
        } else {
          lastRCCommand = COMMAND_NONE;
        }
        return lastRCCommand;
}
 
uint8_t RC_getArgument(void) {
        return lastFlightMode;
}
 
/*
 * Get Pitch, Roll, Throttle, Yaw values
 */
void RC_periodicTaskAndPRYT(int16_t* PRYT) {
  if (RCQuality) {
    RCQuality--;
 
    debugOut.analog[20] = RCChannel(CH_ELEVATOR);
    debugOut.analog[21] = RCChannel(CH_AILERONS);
    debugOut.analog[22] = RCChannel(CH_RUDDER);
    debugOut.analog[23] = RCChannel(CH_THROTTLE);
 
    PRYT[CONTROL_ELEVATOR]   = RCChannel(CH_ELEVATOR) / RC_SCALING;
    PRYT[CONTROL_AILERONS]   = RCChannel(CH_AILERONS) / RC_SCALING;
    PRYT[CONTROL_RUDDER]     = RCChannel(CH_RUDDER)   / RC_SCALING;
    PRYT[CONTROL_THROTTLE]   = RCChannel(CH_THROTTLE) / RC_SCALING;
  } // if RCQuality is no good, we just do nothing.
}
 
/*
 * Get other channel value
 */
int16_t RC_getVariable(uint8_t varNum) {
  if (varNum < 4)
    // 0th variable is 5th channel (1-based) etc.
    return (RCChannel(varNum + CH_POTS) >> 3) + VARIABLE_OFFSET;
  /*
   * Let's just say:
   * The RC variable i is hardwired to channel i, i>=4
   */
  return (PPM_in[varNum] >> 3) + VARIABLE_OFFSET;
}
 
uint8_t RC_getSignalQuality(void) {
  if (RCQuality >= 160)
    return SIGNAL_GOOD;
  if (RCQuality >= 140)
    return SIGNAL_OK;
  if (RCQuality >= 120)
    return SIGNAL_BAD;
  return SIGNAL_LOST;
}
 
/*
 * To should fired only when the right stick is in the center position.
 * This will cause the value of pitch and roll stick to be adjusted
 * to zero (not just to near zero, as per the assumption in rc.c
 * about the rc signal. I had values about 50..70 with a Futaba
 * R617 receiver.) This calibration is not strictly necessary, but
 * for control logic that depends on the exact (non)center position
 * of a stick, it may be useful.
 */
void RC_calibrate(void) {
  // Do nothing.
}
 

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/rc.c @ 2116 - Rev 2109 → 2110

Rev 2109		Rev 2110
1	#include <stdlib.h>	1	#include <stdlib.h>
2	#include <avr/io.h>	2	#include <avr/io.h>
3	#include <avr/interrupt.h>	3	#include <avr/interrupt.h>
4		4
5	#include "rc.h"	5	#include "rc.h"
6	#include "controlMixer.h"	6	#include "controlMixer.h"
7	#include "configuration.h"	7	#include "configuration.h"
8	#include "commands.h"	8	#include "commands.h"
9	#include "output.h"	9	#include "output.h"
10		10
11	// The channel array is 0-based!	11	// The channel array is 0-based!
12	volatile int16_t PPM_in[MAX_CHANNELS];	12	volatile int16_t PPM_in[MAX_CHANNELS];
13	volatile uint8_t RCQuality;	13	volatile uint8_t RCQuality;
14		14
15	uint8_t lastRCCommand = COMMAND_NONE;	15	uint8_t lastRCCommand = COMMAND_NONE;
16	uint8_t lastFlightMode = FLIGHT_MODE_NONE;	16	uint8_t lastFlightMode = FLIGHT_MODE_NONE;
-		17
17		18	#define TIME(s) ((int16_t)(((long)F_CPU/(long)8000)*(float)s))
18	/***************************************************************	19	/***************************************************************
19	* 16bit timer 1 is used to decode the PPM-Signal	20	* 16bit timer 1 is used to decode the PPM-Signal
20	***************************************************************/	21	***************************************************************/
21	void RC_Init(void) {	22	void RC_Init(void) {
22	uint8_t sreg = SREG;	23	uint8_t sreg = SREG;
23		24
24	// disable all interrupts before reconfiguration	25	// disable all interrupts before reconfiguration
25	cli();	26	cli();
26		27
27	// PPM-signal is connected to the Input Capture Pin (PD6) of timer 1	28	// PPM-signal is connected to the Input Capture Pin (PD6) of timer 1
28	DDRD &= ~(1<<6);	29	DDRD &= ~(1<<6);
29	PORTD \|= (1<<PORTD6);	30	PORTD \|= (1<<PORTD6);
30		31
31	// Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5)	32	// Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5)
32	// set as output	33	// set as output
33	DDRD \|= (1<<DDD5) \| (1<<DDD4) \| (1<<DDD3);	34	DDRD \|= (1<<DDD5) \| (1<<DDD4) \| (1<<DDD3);
34	// low level	35	// low level
35	PORTD &= ~((1<<PORTD5) \| (1<<PORTD4) \| (1<<PORTD3));	36	PORTD &= ~((1<<PORTD5) \| (1<<PORTD4) \| (1<<PORTD3));
36		37
37	// PD3 can't be used if 2nd UART is activated	38	// PD3 can't be used if 2nd UART is activated
38	// because TXD1 is at that port	39	// because TXD1 is at that port
39	if (CPUType != ATMEGA644P) {	40	if (CPUType != ATMEGA644P) {
40	DDRD \|= (1<<PORTD3);	41	DDRD \|= (1<<PORTD3);
41	PORTD &= ~(1<<PORTD3);	42	PORTD &= ~(1<<PORTD3);
42	}	43	}
43		44
44	// Timer/Counter1 Control Register A, B, C	45	// Timer/Counter1 Control Register A, B, C
45		46
46	// Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0)	47	// Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0)
47	// Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0)	48	// Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0)
48	// Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1)	49	// Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1)
49	// Enable input capture noise cancler (bit: ICNC1=1)	50	// Enable input capture noise cancler (bit: ICNC1=1)
50	// Trigger on positive edge of the input capture pin (bit: ICES1=1),	51	// Trigger on positive edge of the input capture pin (bit: ICES1=1),
51	// Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2�s	52	// Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2�s
52	// The longest period is 0xFFFF / 312.5 kHz = 0.209712 s.	53	// The longest period is 0xFFFF / 312.5 kHz = 0.209712 s.
53	TCCR1A &= ~((1 << COM1A1) \| (1 << COM1A0) \| (1 << COM1B1) \| (1 << COM1B0) \| (1 << WGM11) \| (1 << WGM10));	54	TCCR1A &= ~((1 << COM1A1) \| (1 << COM1A0) \| (1 << COM1B1) \| (1 << COM1B0) \| (1 << WGM11) \| (1 << WGM10));
54	TCCR1B &= ~((1 << WGM13) \| (1 << WGM12) \| (1 << CS12));	55	TCCR1B &= ~((1 << WGM13) \| (1 << WGM12) \| (1 << CS12));
55	TCCR1B \|= (1 << CS11) \| (1 << ICES1) \| (1 << ICNC1);	56	TCCR1B \|= (1 << CS11) \| (1 << ICES1) \| (1 << ICNC1);
56	TCCR1C &= ~((1 << FOC1A) \| (1 << FOC1B));	57	TCCR1C &= ~((1 << FOC1A) \| (1 << FOC1B));
57		58
58	// Timer/Counter1 Interrupt Mask Register	59	// Timer/Counter1 Interrupt Mask Register
59	// Enable Input Capture Interrupt (bit: ICIE1=1)	60	// Enable Input Capture Interrupt (bit: ICIE1=1)
60	// Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0)	61	// Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0)
61	// Enable Overflow Interrupt (bit: TOIE1=0)	62	// Enable Overflow Interrupt (bit: TOIE1=0)
62	TIMSK1 &= ~((1<<OCIE1B) \| (1<<OCIE1A) \| (1<<TOIE1));	63	TIMSK1 &= ~((1<<OCIE1B) \| (1<<OCIE1A) \| (1<<TOIE1));
63	TIMSK1 \|= (1<<ICIE1);	64	TIMSK1 \|= (1<<ICIE1);
64		65
65	RCQuality = 0;	66	RCQuality = 0;
66		67
67	SREG = sreg;	68	SREG = sreg;
68	}	69	}
69		70
70	/********************************************************************/	71	/********************************************************************/
71	/* Every time a positive edge is detected at PD6 */	72	/* Every time a positive edge is detected at PD6 */
72	/********************************************************************/	73	/********************************************************************/
73	/* t-Frame	74	/* t-Frame
74	<----------------------------------------------------------------------->	75	<----------------------------------------------------------------------->
75	____ ______ _____ ________ ______ sync gap ____	76	____ ______ _____ ________ ______ sync gap ____
76	\| \| \| \| \| \| \| \| \| \| \|	77	\| \| \| \| \| \| \| \| \| \| \|
77	\| \| \| \| \| \| \| \| \| \| \|	78	\| \| \| \| \| \| \| \| \| \| \|
78	___\| \|_\| \|_\| \|_\| \|_.............\| \|________________\|	79	___\| \|_\| \|_\| \|_\| \|_.............\| \|________________\|
79	<-----><-------><------><----------- <------> <---	80	<-----><-------><------><----------- <------> <---
80	t0 t1 t2 t4 tn t0	81	t0 t1 t2 t4 tn t0
81		82
82	The PPM-Frame length is 22.5 ms.	83	The PPM-Frame length is 22.5 ms.
83	Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse.	84	Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse.
84	The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms.	85	The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms.
85	The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms.	86	The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms.
86	The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms.	87	The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms.
87	The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms.	88	The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms.
88	The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is	89	The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is
89	the syncronization gap.	90	the syncronization gap.
90	*/	91	*/
91	ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms	92	ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms
92	int16_t signal, tmp;	93	int16_t signal, tmp;
93	static int16_t index;	94	static int16_t index;
94	static uint16_t oldICR1 = 0;	95	static uint16_t oldICR1 = 0;
95		96
96	// 16bit Input Capture Register ICR1 contains the timer value TCNT1	97	// 16bit Input Capture Register ICR1 contains the timer value TCNT1
97	// at the time the edge was detected	98	// at the time the edge was detected
98		99
99	// calculate the time delay to the previous event time which is stored in oldICR1	100	// calculate the time delay to the previous event time which is stored in oldICR1
100	// calculatiing the difference of the two uint16_t and converting the result to an int16_t	101	// calculatiing the difference of the two uint16_t and converting the result to an int16_t
101	// implicit handles a timer overflow 65535 -> 0 the right way.	102	// implicit handles a timer overflow 65535 -> 0 the right way.
102	signal = (uint16_t) ICR1 - oldICR1;	103	signal = (uint16_t) ICR1 - oldICR1;
103	oldICR1 = ICR1;	104	oldICR1 = ICR1;
104		105
105	//sync gap? (3.5 ms < signal < 25.6 ms)	106	//sync gap? (3.5 ms < signal < 25.6 ms)
106	if (signal > 8750) {	107	if (signal > TIME(3.5)) {
107	index = 0;	108	index = 0;
108	} else { // within the PPM frame	109	} else { // within the PPM frame
109	if (index < MAX_CHANNELS) { // PPM24 supports 12 channels	110	if (index < MAX_CHANNELS) { // PPM24 supports 12 channels
110	// check for valid signal length (0.8 ms < signal < 2.2 ms)	111	// check for valid signal length (0.8 ms < signal < 2.2 ms)
111	if ((signal >= 2000) && (signal < 5500)) {	112	if ((signal >= TIME(0.8)) && (signal < TIME(2.2))) {
112	// shift signal to zero symmetric range -154 to 159	113	// shift signal to zero symmetric range -154 to 159
113	//signal -= 3750; // theoretical value	114	//signal -= 3750; // theoretical value
114	signal -= (3750+56); // best value with my Futaba in zero trim.	115	signal -= (TIME(1.5) + RC_TRIM); // best value with my Futaba in zero trim.
115	// check for stable signal	116	// check for stable signal
116	if (abs(signal - PPM_in[index]) < 50) {	117	if (abs(signal - PPM_in[index]) < TIME(0.05)) {
117	if (RCQuality < 200)	118	if (RCQuality < 200)
118	RCQuality += 10;	119	RCQuality += 10;
119	else	120	else
120	RCQuality = 200;	121	RCQuality = 200;
121	}	122	}
122	// If signal is the same as before +/- 1, just keep it there. Naah lets get rid of this slimy sticy stuff.	123	// If signal is the same as before +/- 1, just keep it there. Naah lets get rid of this slimy sticy stuff.
123	// if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) {	124	// if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) {
124	// In addition, if the signal is very close to 0, just set it to 0.	125	// In addition, if the signal is very close to 0, just set it to 0.
125	if (signal >= -1 && signal <= 1) {	126	if (signal >= -1 && signal <= 1) {
126	tmp = 0;	127	tmp = 0;
127	//} else {	128	//} else {
128	// tmp = PPM_in[index];	129	// tmp = PPM_in[index];
129	// }	130	// }
130	} else	131	} else
131	tmp = signal;	132	tmp = signal;
132	PPM_in[index] = tmp; // update channel value	133	PPM_in[index] = tmp; // update channel value
133	}	134	}
134	index++; // next channel	135	index++; // next channel
135	// demux sum signal for channels 5 to 7 to J3, J4, J5	136	// demux sum signal for channels 5 to 7 to J3, J4, J5
136	// TODO: General configurability of this R/C channel forwarding. Or remove it completely - the	137	// TODO: General configurability of this R/C channel forwarding. Or remove it completely - the
137	// channels are usually available at the receiver anyway.	138	// channels are usually available at the receiver anyway.
138	// if(index == 5) J3HIGH; else J3LOW;	139	// if(index == 5) J3HIGH; else J3LOW;
139	// if(index == 6) J4HIGH; else J4LOW;	140	// if(index == 6) J4HIGH; else J4LOW;
140	// if(CPUType != ATMEGA644P) // not used as TXD1	141	// if(CPUType != ATMEGA644P) // not used as TXD1
141	// {	142	// {
142	// if(index == 7) J5HIGH; else J5LOW;	143	// if(index == 7) J5HIGH; else J5LOW;
143	// }	144	// }
144	}	145	}
145	}	146	}
146	}	147	}
147		148
148	#define RCChannel(dimension) PPM_in[channelMap.channels[dimension]]	149	#define RCChannel(dimension) PPM_in[channelMap.channels[dimension]]
149	#define COMMAND_CHANNEL_VERTICAL CH_THROTTLE	150	#define COMMAND_CHANNEL_VERTICAL CH_THROTTLE
150	#define COMMAND_CHANNEL_HORIZONTAL CH_YAW	151	#define COMMAND_CHANNEL_HORIZONTAL CH_YAW
151		-
152	#define RC_SCALING 2	-
153		152
154	uint8_t getControlModeSwitch(void) {	153	uint8_t getControlModeSwitch(void) {
155	int16_t channel = RCChannel(CH_MODESWITCH);	154	int16_t channel = RCChannel(CH_MODESWITCH);
156	uint8_t flightMode = channel < -330 ? FLIGHT_MODE_MANUAL : (channel > 330 ? FLIGHT_MODE_ANGLES : FLIGHT_MODE_RATE);	155	uint8_t flightMode = channel < -TIME(0.17) ? FLIGHT_MODE_MANUAL : (channel > TIME(0.17) ? FLIGHT_MODE_ANGLES : FLIGHT_MODE_RATE);
157	return flightMode;	156	return flightMode;
158	}	157	}
159		158
160	// Gyro calibration is performed as.... well mode switch with no throttle and no airspeed would be nice.	159	// Gyro calibration is performed as.... well mode switch with no throttle and no airspeed would be nice.
161	// Maybe simply: Very very low throttle.	160	// Maybe simply: Very very low throttle.
162	// Throttle xlow for COMMAND_TIMER: GYROCAL (once).	161	// Throttle xlow for COMMAND_TIMER: GYROCAL (once).
163	// mode switched: CHMOD	162	// mode switched: CHMOD
164		163
165	uint8_t RC_getCommand(void) {	164	uint8_t RC_getCommand(void) {
166	uint8_t flightMode = getControlModeSwitch();	165	uint8_t flightMode = getControlModeSwitch();
167		166
168	if (lastFlightMode != flightMode) {	167	if (lastFlightMode != flightMode) {
169	lastFlightMode = flightMode;	168	lastFlightMode = flightMode;
170	lastRCCommand = COMMAND_CHMOD;	169	lastRCCommand = COMMAND_CHMOD;
171	return lastRCCommand;	170	return lastRCCommand;
172	}	171	}
173		172
174	int16_t channel = RCChannel(CH_THROTTLE);	173	int16_t channel = RCChannel(CH_THROTTLE);
175		174
176	if (channel <= -1400) {	175	if (channel <= -TIME(0.55)) {
177	lastRCCommand = COMMAND_GYROCAL;	176	lastRCCommand = COMMAND_GYROCAL;
178	} else {	177	} else {
179	lastRCCommand = COMMAND_NONE;	178	lastRCCommand = COMMAND_NONE;
180	}	179	}
181	return lastRCCommand;	180	return lastRCCommand;
182	}	181	}
183		182
184	uint8_t RC_getArgument(void) {	183	uint8_t RC_getArgument(void) {
185	return lastFlightMode;	184	return lastFlightMode;
186	}	185	}
187		186
188	/*	187	/*
189	* Get Pitch, Roll, Throttle, Yaw values	188	* Get Pitch, Roll, Throttle, Yaw values
190	*/	189	*/
191	void RC_periodicTaskAndPRYT(int16_t* PRYT) {	190	void RC_periodicTaskAndPRYT(int16_t* PRYT) {
192	if (RCQuality) {	191	if (RCQuality) {
193	RCQuality--;	192	RCQuality--;
194		193
195	debugOut.analog[20] = RCChannel(CH_ELEVATOR);	194	debugOut.analog[20] = RCChannel(CH_ELEVATOR);
196	debugOut.analog[21] = RCChannel(CH_AILERONS);	195	debugOut.analog[21] = RCChannel(CH_AILERONS);
197	debugOut.analog[22] = RCChannel(CH_RUDDER);	196	debugOut.analog[22] = RCChannel(CH_RUDDER);
198	debugOut.analog[23] = RCChannel(CH_THROTTLE);	197	debugOut.analog[23] = RCChannel(CH_THROTTLE);
199		198
200	PRYT[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) / RC_SCALING;	199	PRYT[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) / RC_SCALING;
201	PRYT[CONTROL_AILERONS] = RCChannel(CH_AILERONS) / RC_SCALING;	200	PRYT[CONTROL_AILERONS] = RCChannel(CH_AILERONS) / RC_SCALING;
202	PRYT[CONTROL_RUDDER] = RCChannel(CH_RUDDER) / RC_SCALING;	201	PRYT[CONTROL_RUDDER] = RCChannel(CH_RUDDER) / RC_SCALING;
203	PRYT[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) / RC_SCALING;	202	PRYT[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) / RC_SCALING;
204	} // if RCQuality is no good, we just do nothing.	203	} // if RCQuality is no good, we just do nothing.
205	}	204	}
206		205
207	/*	206	/*
208	* Get other channel value	207	* Get other channel value
209	*/	208	*/
210	int16_t RC_getVariable(uint8_t varNum) {	209	int16_t RC_getVariable(uint8_t varNum) {
211	if (varNum < 4)	210	if (varNum < 4)
212	// 0th variable is 5th channel (1-based) etc.	211	// 0th variable is 5th channel (1-based) etc.
213	return (RCChannel(varNum + CH_POTS) >> 3) + POT_OFFSET;	212	return (RCChannel(varNum + CH_POTS) >> 3) + VARIABLE_OFFSET;
214	/*	213	/*
215	* Let's just say:	214	* Let's just say:
216	* The RC variable i is hardwired to channel i, i>=4	215	* The RC variable i is hardwired to channel i, i>=4
217	*/	216	*/
218	return (PPM_in[varNum] >> 3) + POT_OFFSET;	217	return (PPM_in[varNum] >> 3) + VARIABLE_OFFSET;
219	}	218	}
220		219
221	uint8_t RC_getSignalQuality(void) {	220	uint8_t RC_getSignalQuality(void) {
222	if (RCQuality >= 160)	221	if (RCQuality >= 160)
223	return SIGNAL_GOOD;	222	return SIGNAL_GOOD;
224	if (RCQuality >= 140)	223	if (RCQuality >= 140)
225	return SIGNAL_OK;	224	return SIGNAL_OK;
226	if (RCQuality >= 120)	225	if (RCQuality >= 120)
227	return SIGNAL_BAD;	226	return SIGNAL_BAD;
228	return SIGNAL_LOST;	227	return SIGNAL_LOST;
229	}	228	}
230		229
231	/*	230	/*
232	* To should fired only when the right stick is in the center position.	231	* To should fired only when the right stick is in the center position.
233	* This will cause the value of pitch and roll stick to be adjusted	232	* This will cause the value of pitch and roll stick to be adjusted
234	* to zero (not just to near zero, as per the assumption in rc.c	233	* to zero (not just to near zero, as per the assumption in rc.c
235	* about the rc signal. I had values about 50..70 with a Futaba	234	* about the rc signal. I had values about 50..70 with a Futaba
236	* R617 receiver.) This calibration is not strictly necessary, but	235	* R617 receiver.) This calibration is not strictly necessary, but
237	* for control logic that depends on the exact (non)center position	236	* for control logic that depends on the exact (non)center position
238	* of a stick, it may be useful.	237	* of a stick, it may be useful.
239	*/	238	*/
240	void RC_calibrate(void) {	239	void RC_calibrate(void) {
241	// Do nothing.	240	// Do nothing.
242	}	241	}
243		242