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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | 51 | ||
52 | #include <stdlib.h> |
52 | #include <stdlib.h> |
53 | #include "controlMixer.h" |
53 | #include "controlMixer.h" |
54 | #include "rc.h" |
54 | #include "rc.h" |
55 | #include "heightControl.h" |
55 | #include "heightControl.h" |
56 | #include "attitudeControl.h" |
56 | #include "attitudeControl.h" |
57 | #include "externalControl.h" |
57 | #include "externalControl.h" |
58 | #include "configuration.h" |
58 | #include "configuration.h" |
59 | #include "attitude.h" |
59 | #include "attitude.h" |
60 | #include "commands.h" |
60 | #include "commands.h" |
61 | #include "output.h" |
61 | #include "output.h" |
62 | 62 | ||
63 | uint16_t maxControl[2] = {0,0}; |
63 | uint16_t maxControl[2] = { 0, 0 }; |
64 | int16_t control[2] = {0,0}; |
64 | int16_t control[2] = { 0, 0 }; |
65 | int16_t controlYaw = 0, controlThrottle = 0; |
65 | int16_t controlYaw = 0, controlThrottle = 0; |
66 | uint8_t looping = 0; |
66 | uint8_t looping = 0; |
67 | 67 | ||
68 | // Internal variables for reading commands made with an R/C stick. |
68 | // Internal variables for reading commands made with an R/C stick. |
69 | uint8_t lastCommand = COMMAND_NONE; |
69 | uint8_t lastCommand = COMMAND_NONE; |
70 | uint8_t lastArgument; |
70 | uint8_t lastArgument; |
71 | 71 | ||
72 | uint8_t isCommandRepeated = 0; |
72 | uint8_t isCommandRepeated = 0; |
73 | 73 | ||
74 | // MK flags. TODO: Replace by enum. State machine. |
74 | // MK flags. TODO: Replace by enum. State machine. |
75 | uint16_t isFlying = 0; |
75 | uint16_t isFlying = 0; |
76 | volatile uint8_t MKFlags = 0; |
76 | volatile uint8_t MKFlags = 0; |
77 | 77 | ||
78 | /* |
78 | /* |
79 | * This could be expanded to take arguments from ohter sources than the RC |
79 | * This could be expanded to take arguments from ohter sources than the RC |
80 | * (read: Custom MK RC project) |
80 | * (read: Custom MK RC project) |
81 | */ |
81 | */ |
82 | uint8_t controlMixer_getArgument(void) { |
82 | uint8_t controlMixer_getArgument(void) { |
83 | return lastArgument; |
83 | return lastArgument; |
84 | } |
84 | } |
85 | 85 | ||
86 | /* |
86 | /* |
87 | * This could be expanded to take calibrate / start / stop commands from ohter sources |
87 | * This could be expanded to take calibrate / start / stop commands from ohter sources |
88 | * than the R/C (read: Custom MK R/C project) |
88 | * than the R/C (read: Custom MK R/C project) |
89 | */ |
89 | */ |
90 | uint8_t controlMixer_getCommand(void) { |
90 | uint8_t controlMixer_getCommand(void) { |
91 | return lastCommand; |
91 | return lastCommand; |
92 | } |
92 | } |
93 | 93 | ||
94 | uint8_t controlMixer_isCommandRepeated(void) { |
94 | uint8_t controlMixer_isCommandRepeated(void) { |
95 | return isCommandRepeated; |
95 | return isCommandRepeated; |
96 | } |
96 | } |
97 | 97 | ||
98 | void controlMixer_setNeutral() { |
98 | void controlMixer_setNeutral() { |
99 | EC_setNeutral(); |
99 | EC_setNeutral(); |
100 | HC_setGround(); |
100 | HC_setGround(); |
101 | } |
101 | } |
102 | 102 | ||
103 | /* |
103 | /* |
104 | * Set the potientiometer values to the momentary values of the respective R/C channels. |
104 | * Set the potientiometer values to the momentary values of the respective R/C channels. |
105 | * No slew rate limitation. |
105 | * No slew rate limitation. |
106 | */ |
106 | */ |
107 | void controlMixer_initVariables(void) { |
107 | void controlMixer_initVariables(void) { |
108 | uint8_t i; |
108 | uint8_t i; |
109 | for (i=0; i<8; i++) { |
109 | for (i = 0; i < 8; i++) { |
110 | variables[i] = RC_getVariable(i); |
110 | variables[i] = RC_getVariable(i); |
111 | } |
111 | } |
112 | } |
112 | } |
113 | 113 | ||
114 | /* |
114 | /* |
115 | * Update potentiometer values with limited slew rate. Could be made faster if desired. |
115 | * Update potentiometer values with limited slew rate. Could be made faster if desired. |
116 | * TODO: It assumes R/C as source. Not necessarily true. |
116 | * TODO: It assumes R/C as source. Not necessarily true. |
117 | */ |
117 | */ |
118 | void controlMixer_updateVariables(void) { |
118 | void controlMixer_updateVariables(void) { |
119 | uint8_t i; |
119 | uint8_t i; |
120 | int16_t targetvalue; |
120 | int16_t targetvalue; |
121 | for (i=0; i<8; i++) { |
121 | for (i = 0; i < 8; i++) { |
122 | targetvalue = RC_getVariable(i); |
122 | targetvalue = RC_getVariable(i); |
123 | if (targetvalue < 0) targetvalue = 0; |
123 | if (targetvalue < 0) |
- | 124 | targetvalue = 0; |
|
- | 125 | if (variables[i] < targetvalue && variables[i] < 255) |
|
- | 126 | variables[i]++; |
|
124 | if (variables[i] < targetvalue && variables[i] < 255) variables[i]++; else if(variables[i] > 0 && variables[i] > targetvalue) variables[i]--; |
127 | else if (variables[i] > 0 && variables[i] > targetvalue) |
- | 128 | variables[i]--; |
|
125 | } |
129 | } |
126 | } |
130 | } |
127 | 131 | ||
128 | uint8_t controlMixer_getSignalQuality(void) { |
132 | uint8_t controlMixer_getSignalQuality(void) { |
129 | uint8_t rcQ = RC_getSignalQuality(); |
133 | uint8_t rcQ = RC_getSignalQuality(); |
130 | uint8_t ecQ = EC_getSignalQuality(); |
134 | uint8_t ecQ = EC_getSignalQuality(); |
131 | // This needs not be the only correct solution... |
135 | // This needs not be the only correct solution... |
132 | return rcQ > ecQ ? rcQ : ecQ; |
136 | return rcQ > ecQ ? rcQ : ecQ; |
133 | } |
137 | } |
134 | 138 | ||
135 | /* |
139 | /* |
136 | * Update the variables indicating stick position from the sum of R/C, GPS and external control. |
140 | * Update the variables indicating stick position from the sum of R/C, GPS and external control. |
137 | */ |
141 | */ |
138 | void controlMixer_update(void) { |
142 | void controlMixer_update(void) { |
139 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
143 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
140 | // TODO: If no signal --> zero. |
144 | // TODO: If no signal --> zero. |
141 | uint8_t axis; |
145 | uint8_t axis; |
142 | 146 | ||
143 | // takes almost no time... |
147 | // takes almost no time... |
144 | RC_update(); |
148 | RC_update(); |
145 | 149 | ||
146 | // takes almost no time... |
150 | // takes almost no time... |
147 | EC_update(); |
151 | EC_update(); |
148 | 152 | ||
149 | // takes about 80 usec. |
153 | // takes about 80 usec. |
150 | HC_update(); |
154 | HC_update(); |
151 | 155 | ||
152 | int16_t* RC_PRTY = RC_getPRTY(); |
156 | int16_t* RC_PRTY = RC_getPRTY(); |
153 | int16_t* EC_PRTY = EC_getPRTY(); |
157 | int16_t* EC_PRTY = EC_getPRTY(); |
154 | 158 | ||
155 | control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
159 | control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
156 | control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
160 | control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
157 | // This can be a CPU time killer if the function implementations are inefficient. |
161 | // This can be a CPU time killer if the function implementations are inefficient. |
158 | controlThrottle = HC_getThrottle(AC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE])); |
162 | controlThrottle = HC_getThrottle(AC_getThrottle(RC_PRTY[CONTROL_THROTTLE] |
- | 163 | + EC_PRTY[CONTROL_THROTTLE])); |
|
159 | controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
164 | controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
160 | 165 | ||
161 | DebugOut.Analog[12] = control[PITCH]; |
166 | DebugOut.Analog[12] = control[PITCH]; |
162 | DebugOut.Analog[13] = control[ROLL]; |
167 | DebugOut.Analog[13] = control[ROLL]; |
163 | //DebugOut.Analog[26] = controlYaw; |
168 | //DebugOut.Analog[26] = controlYaw; |
164 | 169 | ||
165 | if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
170 | if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
166 | controlMixer_updateVariables(); |
171 | controlMixer_updateVariables(); |
167 | configuration_applyVariablesToParams(); |
172 | configuration_applyVariablesToParams(); |
168 | looping = RC_getLooping(looping); |
173 | looping = RC_getLooping(looping); |
169 | } else { // Signal is not OK |
174 | } else { // Signal is not OK |
170 | // Could handle switch to emergency flight here. |
175 | // Could handle switch to emergency flight here. |
171 | // throttle is handled elsewhere. |
176 | // throttle is handled elsewhere. |
172 | looping = 0; |
177 | looping = 0; |
173 | } |
178 | } |
174 | 179 | ||
175 | // part1a end. |
180 | // part1a end. |
176 | 181 | ||
177 | /* This is not really necessary with the dead-gap feature on all sticks (see rc.c) |
182 | /* This is not really necessary with the dead-gap feature on all sticks (see rc.c) |
178 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
183 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
179 | if (controlYaw > 2) controlYaw-= 2; |
184 | if (controlYaw > 2) controlYaw-= 2; |
180 | else if (controlYaw< -2) controlYaw += 2; |
185 | else if (controlYaw< -2) controlYaw += 2; |
181 | else controlYaw = 0; |
186 | else controlYaw = 0; |
182 | } |
187 | } |
183 | */ |
188 | */ |
184 | 189 | ||
185 | /* |
190 | /* |
186 | * Record maxima |
191 | * Record maxima |
187 | */ |
192 | */ |
188 | for (axis=PITCH; axis<=ROLL; axis++) { |
193 | for (axis = PITCH; axis <= ROLL; axis++) { |
189 | if(abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) { |
194 | if (abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) { |
190 | maxControl[axis] = abs(control[axis]) / CONTROL_SCALING; |
195 | maxControl[axis] = abs(control[axis]) / CONTROL_SCALING; |
191 | if(maxControl[axis] > 100) maxControl[axis] = 100; |
196 | if (maxControl[axis] > 100) |
- | 197 | maxControl[axis] = 100; |
|
192 | } else if (maxControl[axis]) maxControl[axis]--; |
198 | } else if (maxControl[axis]) |
- | 199 | maxControl[axis]--; |
|
193 | } |
200 | } |
194 | 201 | ||
195 | uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE; |
202 | uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() |
- | 203 | : COMMAND_NONE; |
|
196 | uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() : COMMAND_NONE; |
204 | uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() |
- | 205 | : COMMAND_NONE; |
|
197 | 206 | ||
198 | if (rcCommand != COMMAND_NONE) { |
207 | if (rcCommand != COMMAND_NONE) { |
199 | isCommandRepeated = (lastCommand == rcCommand); |
208 | isCommandRepeated = (lastCommand == rcCommand); |
200 | lastCommand = rcCommand; |
209 | lastCommand = rcCommand; |
201 | lastArgument = RC_getArgument(); |
210 | lastArgument = RC_getArgument(); |
202 | } else if (ecCommand != COMMAND_NONE) { |
211 | } else if (ecCommand != COMMAND_NONE) { |
203 | isCommandRepeated = (lastCommand == ecCommand); |
212 | isCommandRepeated = (lastCommand == ecCommand); |
204 | lastCommand = ecCommand; |
213 | lastCommand = ecCommand; |
205 | lastArgument = EC_getArgument(); |
214 | lastArgument = EC_getArgument(); |
206 | } else { |
215 | } else { |
207 | // Both sources have no command, or one or both are out. |
216 | // Both sources have no command, or one or both are out. |
208 | // Just set to false. There is no reason to check if the none-command was repeated anyway. |
217 | // Just set to false. There is no reason to check if the none-command was repeated anyway. |
209 | isCommandRepeated = 0; |
218 | isCommandRepeated = 0; |
210 | lastCommand = COMMAND_NONE; |
219 | lastCommand = COMMAND_NONE; |
211 | } |
220 | } |
- | 221 | ||
- | 222 | if (isCommandRepeated) |
|
- | 223 | DebugOut.Digital[0] |= DEBUG_COMMANDREPEATED; |
|
- | 224 | else |
|
- | 225 | DebugOut.Digital[0] &= ~DEBUG_COMMANDREPEATED; |
|
- | 226 | if (rcCommand) |
|
- | 227 | DebugOut.Digital[1] |= DEBUG_COMMANDREPEATED; |
|
- | 228 | else |
|
- | 229 | DebugOut.Digital[1] &= ~DEBUG_COMMANDREPEATED; |
|
212 | - | ||
213 | if (isCommandRepeated) DebugOut.Digital[0] |= DEBUG_COMMANDREPEATED; else DebugOut.Digital[0] &= ~DEBUG_COMMANDREPEATED; |
- | |
214 | if (rcCommand) DebugOut.Digital[1] |= DEBUG_COMMANDREPEATED; else DebugOut.Digital[1] &= ~DEBUG_COMMANDREPEATED; |
- | |
215 | 230 | ||
216 | // part1 end. |
231 | // part1 end. |
217 | } |
232 | } |
218 | 233 | ||
219 | // TODO: Integrate into command system. |
234 | // TODO: Integrate into command system. |
220 | uint8_t controlMixer_testCompassCalState(void) { |
235 | uint8_t controlMixer_testCompassCalState(void) { |
221 | return RC_testCompassCalState(); |
236 | return RC_testCompassCalState(); |
222 | } |
237 | } |
223 | 238 |