WebSVN - FlightCtrl - Diff - Rev 1821 and 1872 - /branches/dongfang_FC


#include "externalcontrol.h"
#include "configuration.h"
#include "controlMixer.h"
 
ExternalControl_t externalControl;
uint8_t externalControlActive;
 
int16_t EC_PRTY[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;
 
        // From main.c. What does it do??
        externalControl.digital[0] = 0x55;
}
 
int16_t* EC_getPRTY(void) {
        return EC_PRTY;
}
 
uint8_t EC_getArgument(void) {
        return externalControl.config;
}
 
uint8_t EC_getCommand(void) {
        return externalControl.free;
}
 
// not implemented.
int16_t EC_getVariable(uint8_t varNum) {
        return 0;
}
 
void EC_update() {
        if (externalControlActive) {
                externalControlActive--;
                EC_PRTY[CONTROL_PITCH] = externalControl.pitch * (int16_t) staticParams.StickP;
 
                EC_PRTY[CONTROL_ROLL] = externalControl.roll * (int16_t) staticParams.StickP;
 
                EC_PRTY[CONTROL_THROTTLE] = externalControl.throttle;
                EC_PRTY[CONTROL_YAW] = externalControl.yaw; // No stickP or similar??????
        } else {
                EC_PRTY[CONTROL_PITCH] = EC_PRTY[CONTROL_ROLL] = EC_PRTY[CONTROL_THROTTLE] = EC_PRTY[CONTROL_YAW] = 0;
 
        }
}
 
uint8_t EC_getSignalQuality(void) {
        if (externalControlActive > 80)
                // Configured and heard from recently
                return SIGNAL_GOOD;
 
        if (externalControlActive)
                // Configured and heard from
                return SIGNAL_OK;
 
        if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128))
                // External control is not even configured.
                return NO_SIGNAL;
 
        // Configured but expired.
        return SIGNAL_LOST;
}
 

Rev 1821	Rev 1872
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	43	EC_PRTY[CONTROL_PITCH] = externalControl.pitch * (int16_t) staticParams.StickP;
44	* (int16_t) staticParams.StickP;	-
45	EC_PRTY[CONTROL_ROLL] = externalControl.roll	44	EC_PRTY[CONTROL_ROLL] = externalControl.roll * (int16_t) staticParams.StickP;
46	* (int16_t) staticParams.StickP;	-
47	EC_PRTY[CONTROL_THROTTLE] = externalControl.throttle;	45	EC_PRTY[CONTROL_THROTTLE] = externalControl.throttle;
48	EC_PRTY[CONTROL_YAW] = externalControl.yaw; // No stickP or similar??????	46	EC_PRTY[CONTROL_YAW] = externalControl.yaw; // No stickP or similar??????
49	} else {	47	} else {
50	EC_PRTY[CONTROL_PITCH] = EC_PRTY[CONTROL_ROLL] = EC_PRTY[CONTROL_THROTTLE]	48	EC_PRTY[CONTROL_PITCH] = EC_PRTY[CONTROL_ROLL] = EC_PRTY[CONTROL_THROTTLE] = EC_PRTY[CONTROL_YAW] = 0;
51	= EC_PRTY[CONTROL_YAW] = 0;	-
52	}	49	}
53	}	50	}
54		51
55	uint8_t EC_getSignalQuality(void) {	52	uint8_t EC_getSignalQuality(void) {
56	if (externalControlActive > 80)	53	if (externalControlActive > 80)
57	// Configured and heard from recently	54	// Configured and heard from recently
58	return SIGNAL_GOOD;	55	return SIGNAL_GOOD;
59		56
60	if (externalControlActive)	57	if (externalControlActive)
61	// Configured and heard from	58	// Configured and heard from
62	return SIGNAL_OK;	59	return SIGNAL_OK;
63		60
64	if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128))	61	if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128))
65	// External control is not even configured.	62	// External control is not even configured.
66	return NO_SIGNAL;	63	return NO_SIGNAL;
67		64
68	// Configured but expired.	65	// Configured but expired.
69	return SIGNAL_LOST;	66	return SIGNAL_LOST;
70	}	67	}
71		68

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/externalControl.c - Rev 1821 → 1872