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| Rev 1775 | Rev 1821 | ||
|---|---|---|---|
| 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 | uint8_t EC_getArgument(void) { |
27 | uint8_t EC_getArgument(void) { |
| 28 | return externalControl.config; |
28 | return externalControl.config; |
| 29 | } |
29 | } |
| 30 | 30 | ||
| 31 | uint8_t EC_getCommand(void) { |
31 | uint8_t EC_getCommand(void) { |
| 32 | return externalControl.free; |
32 | return externalControl.free; |
| 33 | } |
33 | } |
| 34 | 34 | ||
| 35 | // not implemented. |
35 | // not implemented. |
| 36 | int16_t EC_getVariable(uint8_t varNum) { |
36 | int16_t EC_getVariable(uint8_t varNum) { |
| 37 | return 0; |
37 | return 0; |
| 38 | } |
38 | } |
| 39 | 39 | ||
| 40 | void EC_update() { |
40 | void EC_update() { |
| 41 | if (externalControlActive) { |
41 | if (externalControlActive) { |
| 42 | externalControlActive--; |
42 | externalControlActive--; |
| 43 | EC_PRTY[CONTROL_PITCH] = (int16_t) externalControl.pitch * (int16_t) staticParams.StickP; |
43 | EC_PRTY[CONTROL_PITCH] = (int16_t) externalControl.pitch |
| - | 44 | * (int16_t) staticParams.StickP; |
|
| 44 | EC_PRTY[CONTROL_ROLL] = externalControl.roll * (int16_t) staticParams.StickP; |
45 | EC_PRTY[CONTROL_ROLL] = externalControl.roll |
| - | 46 | * (int16_t) staticParams.StickP; |
|
| 45 | EC_PRTY[CONTROL_THROTTLE] = externalControl.throttle; |
47 | EC_PRTY[CONTROL_THROTTLE] = externalControl.throttle; |
| 46 | EC_PRTY[CONTROL_YAW] = externalControl.yaw; // No stickP or similar?????? |
48 | EC_PRTY[CONTROL_YAW] = externalControl.yaw; // No stickP or similar?????? |
| 47 | } else { |
49 | } else { |
| 48 | 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] |
| - | 51 | = EC_PRTY[CONTROL_YAW] = 0; |
|
| 49 | } |
52 | } |
| 50 | } |
53 | } |
| 51 | 54 | ||
| 52 | uint8_t EC_getSignalQuality(void) { |
55 | uint8_t EC_getSignalQuality(void) { |
| 53 | if (externalControlActive > 80) |
56 | if (externalControlActive > 80) |
| 54 | // Configured and heard from recently |
57 | // Configured and heard from recently |
| 55 | return SIGNAL_GOOD; |
58 | return SIGNAL_GOOD; |
| 56 | 59 | ||
| 57 | if (externalControlActive) |
60 | if (externalControlActive) |
| 58 | // Configured and heard from |
61 | // Configured and heard from |
| 59 | return SIGNAL_OK; |
62 | return SIGNAL_OK; |
| 60 | 63 | ||
| 61 | if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128)) |
64 | if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128)) |
| 62 | // External control is not even configured. |
65 | // External control is not even configured. |
| 63 | return NO_SIGNAL; |
66 | return NO_SIGNAL; |
| 64 | 67 | ||
| 65 | // Configured but expired. |
68 | // Configured but expired. |
| 66 | return SIGNAL_LOST; |
69 | return SIGNAL_LOST; |
| 67 | } |
70 | } |
| 68 | 71 | ||