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| Rev 1634 | Rev 1645 | ||
|---|---|---|---|
| Line 61... | Line 61... | ||
| 61 | /* |
61 | /* |
| 62 | * Number of cycles a command must be repeated before commit. Maybe this really belongs in RC. |
62 | * Number of cycles a command must be repeated before commit. Maybe this really belongs in RC. |
| 63 | */ |
63 | */ |
| 64 | #define COMMAND_TIMER 200 |
64 | #define COMMAND_TIMER 200 |
| Line 65... | Line 65... | ||
| 65 | 65 | ||
| 66 | uint16_t maxControlPitch = 0, maxControlRoll = 0; |
66 | uint16_t maxControl[2] = {0,0}; |
| 67 | int16_t controlPitch = 0, controlRoll = 0, controlYaw = 0, controlThrottle = 0; |
67 | int16_t control[2] = {0,0}, controlYaw = 0, controlThrottle = 0; |
| Line 68... | Line 68... | ||
| 68 | uint8_t looping = 0; |
68 | uint8_t looping = 0; |
| 69 | 69 | ||
| 70 | // Internal variables for reading commands made with an R/C stick. |
70 | // Internal variables for reading commands made with an R/C stick. |
| Line 126... | Line 126... | ||
| 126 | } |
126 | } |
| Line 127... | Line 127... | ||
| 127 | 127 | ||
| 128 | uint8_t controlMixer_getSignalQuality(void) { |
128 | uint8_t controlMixer_getSignalQuality(void) { |
| 129 | uint8_t rcQ = RC_getSignalQuality(); |
129 | uint8_t rcQ = RC_getSignalQuality(); |
| 130 | uint8_t ecQ = EC_getSignalQuality(); |
- | |
| 131 | DebugOut.Analog[16] = rcQ; |
- | |
| 132 | DebugOut.Analog[17] = ecQ; |
130 | uint8_t ecQ = EC_getSignalQuality(); |
| 133 | // This needs not be the only correct solution... |
131 | // This needs not be the only correct solution... |
| 134 | return rcQ > ecQ ? rcQ : ecQ; |
132 | return rcQ > ecQ ? rcQ : ecQ; |
| Line 135... | Line 133... | ||
| 135 | } |
133 | } |
| 136 | 134 | ||
| 137 | /* |
135 | /* |
| 138 | * Update the variables indicating stick position from the sum of R/C, GPS and external control. |
136 | * Update the variables indicating stick position from the sum of R/C, GPS and external control. |
| 139 | */ |
137 | */ |
| 140 | void controlMixer_update(void) { |
138 | void controlMixer_update(void) { |
| - | 139 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
|
| 141 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
140 | // TODO: If no signal --> zero. |
| 142 | // TODO: If no signal --> zero. |
141 | uint8_t axis; |
| Line 143... | Line 142... | ||
| 143 | RC_update(); |
142 | RC_update(); |
| 144 | EC_update(); |
143 | EC_update(); |
| Line 145... | Line 144... | ||
| 145 | 144 | ||
| 146 | int16_t* RC_PRTY = RC_getPRTY(); |
145 | int16_t* RC_PRTY = RC_getPRTY(); |
| 147 | int16_t* EC_PRTY = EC_getPRTY(); |
146 | int16_t* EC_PRTY = EC_getPRTY(); |
| 148 | 147 | ||
| Line 149... | Line -... | ||
| 149 | controlPitch = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
- | |
| 150 | controlRoll = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
- | |
| 151 | controlThrottle = RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]; |
- | |
| 152 | controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
- | |
| 153 | 148 | control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
|
| 154 | DebugOut.Analog[6] = controlPitch; |
149 | control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
| 155 | DebugOut.Analog[7] = controlRoll; |
150 | controlThrottle = RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]; |
| 156 | DebugOut.Analog[8] = controlYaw; |
151 | controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
| 157 | 152 | ||
| Line 176... | Line 171... | ||
| 176 | } |
171 | } |
| Line 177... | Line 172... | ||
| 177 | 172 | ||
| 178 | /* |
173 | /* |
| 179 | * Record maxima |
174 | * Record maxima |
| - | 175 | */ |
|
| 180 | */ |
176 | for (axis=PITCH; axis<=ROLL; axis++) { |
| 181 | if(abs(controlPitch / STICK_GAIN) > maxControlPitch) { |
177 | if(abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) { |
| 182 | maxControlPitch = abs(controlPitch) / STICK_GAIN; |
178 | maxControl[axis] = abs(control[axis]) / CONTROL_SCALING; |
| 183 | if(maxControlPitch > 100) maxControlPitch = 100; |
179 | if(maxControl[axis] > 100) maxControl[axis] = 100; |
| 184 | } else if (maxControlPitch) maxControlPitch--; |
- | |
| 185 | if(abs(controlRoll / STICK_GAIN) > maxControlRoll) { |
- | |
| 186 | maxControlRoll = abs(controlRoll) / STICK_GAIN; |
- | |
| 187 | if(maxControlRoll > 100) maxControlRoll = 100; |
180 | } else if (maxControl[axis]) maxControl[axis]--; |
| 188 | } |
- | |
| Line 189... | Line 181... | ||
| 189 | else if (maxControlRoll) maxControlRoll--; |
181 | } |
| 190 | 182 | ||
| Line 191... | Line 183... | ||
| 191 | // Here we could blend in other sources. |
183 | // Here we could blend in other sources. |