Rev 1612 | Rev 1821 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1612 | Rev 1617 | ||
|---|---|---|---|
| 1 | #include "externalcontrol.h" |
1 | #include "externalcontrol.h" |
| 2 | #include "configuration.h" |
2 | #include "configuration.h" |
| 3 | #include "controlMixer.h" |
3 | #include "controlMixer.h" |
| 4 | 4 | ||
| 5 | ExternalControl_t externalControl; |
5 | ExternalControl_t externalControl; |
| 6 | uint8_t externalControlActive; |
6 | uint8_t externalControlActive; |
| 7 | 7 | ||
| 8 | int16_t EC_PRTY[4]; |
8 | int16_t EC_PRTY[4]; |
| 9 | 9 | ||
| 10 | // TODO: Who is going to call this |
10 | // TODO: Who is going to call this |
| 11 | void EC_setNeutral(void) { |
11 | void EC_setNeutral(void) { |
| 12 | // if necessary. From main.c. |
12 | // if necessary. From main.c. |
| 13 | externalControl.config = 0; |
13 | externalControl.config = 0; |
| 14 | externalControl.pitch = 0; |
14 | externalControl.pitch = 0; |
| 15 | externalControl.roll = 0; |
15 | externalControl.roll = 0; |
| 16 | externalControl.yaw = 0; |
16 | externalControl.yaw = 0; |
| 17 | externalControl.throttle = 0; |
17 | externalControl.throttle = 0; |
| 18 | 18 | ||
| 19 | // From main.c. What does it do?? |
19 | // From main.c. What does it do?? |
| 20 | externalControl.digital[0] = 0x55; |
20 | externalControl.digital[0] = 0x55; |
| 21 | } |
21 | } |
| 22 | 22 | ||
| 23 | int16_t* EC_getPRTY(void) { |
23 | int16_t* EC_getPRTY(void) { |
| 24 | return EC_PRTY; |
24 | return EC_PRTY; |
| 25 | } |
25 | } |
| 26 | 26 | ||
| 27 | // not implemented. |
27 | // not implemented. |
| 28 | uint8_t EC_getArgument(void) { |
28 | uint8_t EC_getArgument(void) { |
| 29 | return 0; |
29 | return 0; |
| 30 | } |
30 | } |
| 31 | 31 | ||
| 32 | // not implemented. |
32 | // not implemented. |
| 33 | uint8_t EC_getCommand(void) { |
33 | uint8_t EC_getCommand(void) { |
| 34 | return COMMAND_NONE; |
34 | return COMMAND_NONE; |
| 35 | } |
35 | } |
| 36 | 36 | ||
| 37 | // not implemented. |
37 | // not implemented. |
| 38 | int16_t EC_getVariable(uint8_t varNum) { |
38 | int16_t EC_getVariable(uint8_t varNum) { |
| 39 | return 0; |
39 | return 0; |
| 40 | } |
40 | } |
| 41 | 41 | ||
| 42 | void EC_update() { |
42 | void EC_update() { |
| 43 | if (externalControlActive) { |
43 | if (externalControlActive) { |
| 44 | externalControlActive--; |
44 | externalControlActive--; |
| 45 | EC_PRTY[CONTROL_PITCH] = (int16_t) externalControl.pitch * (int16_t) staticParams.StickP; |
45 | EC_PRTY[CONTROL_PITCH] = (int16_t) externalControl.pitch * (int16_t) staticParams.StickP; |
| 46 | EC_PRTY[CONTROL_ROLL] = externalControl.roll * (int16_t) staticParams.StickP; |
46 | EC_PRTY[CONTROL_ROLL] = externalControl.roll * (int16_t) staticParams.StickP; |
| 47 | EC_PRTY[CONTROL_THROTTLE] = externalControl.throttle; |
47 | EC_PRTY[CONTROL_THROTTLE] = externalControl.throttle; |
| 48 | EC_PRTY[CONTROL_YAW] = externalControl.yaw; // No stickP or similar?????? |
48 | EC_PRTY[CONTROL_YAW] = externalControl.yaw; // No stickP or similar?????? |
| 49 | } else { |
49 | } else { |
| 50 | EC_PRTY[CONTROL_PITCH] = EC_PRTY[CONTROL_ROLL] = EC_PRTY[CONTROL_THROTTLE] = EC_PRTY[CONTROL_YAW] = 0; |
50 | EC_PRTY[CONTROL_PITCH] = EC_PRTY[CONTROL_ROLL] = EC_PRTY[CONTROL_THROTTLE] = EC_PRTY[CONTROL_YAW] = 0; |
| 51 | } |
51 | } |
| 52 | } |
52 | } |
| 53 | 53 | ||
| 54 | uint8_t EC_getSignalQuality(void) { |
54 | uint8_t EC_getSignalQuality(void) { |
| 55 | if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128)) |
- | |
| 56 | // External control is not even configured. |
- | |
| 57 | return NO_SIGNAL; |
- | |
| 58 | - | ||
| 59 | if (externalControlActive > 100) |
55 | if (externalControlActive > 100) |
| 60 | // Configured and heard from recently |
56 | // Configured and heard from recently |
| 61 | return SIGNAL_GOOD; |
57 | return SIGNAL_GOOD; |
| 62 | 58 | ||
| 63 | if (externalControlActive) |
59 | if (externalControlActive) |
| 64 | // Configured and heard from |
60 | // Configured and heard from |
| 65 | return SIGNAL_OK; |
61 | return SIGNAL_OK; |
| - | 62 | ||
| - | 63 | if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128)) |
|
| - | 64 | // External control is not even configured. |
|
| - | 65 | return NO_SIGNAL; |
|
| 66 | 66 | ||
| 67 | // Configured but expired. |
67 | // Configured but expired. |
| 68 | return SIGNAL_LOST; |
68 | return SIGNAL_LOST; |
| 69 | } |
69 | } |
| 70 | 70 | ||