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Rev 2089 Rev 2189
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#include <stdlib.h>
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#include <stdlib.h>
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#include "controlMixer.h"
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#include "controlMixer.h"
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#include "rc.h"
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#include "rc.h"
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#include "heightControl.h"
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#include "heightControl.h"
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#include "attitudeControl.h"
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#include "externalControl.h"
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#include "externalControl.h"
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#include "compassControl.h"
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#include "compassControl.h"
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#include "failsafeControl.h"
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#include "failsafeControl.h"
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#include "naviControl.h"
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#include "naviControl.h"
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#include "configuration.h"
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#include "configuration.h"
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#include "attitude.h"
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//#include "attitude.h"
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#include "commands.h"
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#include "commands.h"
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#include "output.h"
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#include "debug.h"
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#include "definitions.h"
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// uint16_t maxControl[2] = { 0, 0 };
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// uint16_t maxControl[2] = { 0, 0 };
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// uint16_t controlActivity = 0;
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// uint16_t controlActivity = 0;
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int16_t controls[4] = { 0, 0, 0, 0 };
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int16_t controls[4];
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// Internal variables for reading commands made with an R/C stick.
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// Internal variables for reading commands made with an R/C stick.
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uint8_t lastCommand = COMMAND_NONE;
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uint8_t lastCommand;
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uint8_t lastArgument;
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uint8_t lastArgument;
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uint8_t isCommandRepeated = 0;
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uint8_t isCommandRepeated;
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uint8_t controlMixer_didReceiveSignal = 0;
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uint8_t controlMixer_didReceiveSignal;
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uint8_t controlMixer_isCommandRepeated(void) {
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uint8_t controlMixer_isCommandRepeated(void) {
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  return isCommandRepeated;
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  return isCommandRepeated;
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}
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void controlMixer_setNeutral() {
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  for (uint8_t i=0; i<VARIABLE_COUNT; i++) {
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    variables[i] = RC_getVariable(i);
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  }
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  EC_setNeutral();
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  HC_setGround();
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  FC_setNeutral();  // FC is FailsafeControl, not FlightCtrl.
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  // This is to set the home pos in navi.
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  // MKFlags |= MKFLAG_CALIBRATE;
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}
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}
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/*
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 * Update potentiometer values with limited slew rate. Could be made faster if desired.
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/*
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 * TODO: It assumes R/C as source. Not necessarily true.
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 * TODO: This assumes R/C as source. Not necessarily true.
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 */
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 */
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void controlMixer_updateVariables(void) {
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  uint8_t i;
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void controlMixer_updateVariables(void) {
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  int16_t targetvalue;
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  uint8_t i;
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  for (i=0; i < VARIABLE_COUNT; i++) {
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  for (i=0; i < VARIABLE_COUNT; i++) {
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    targetvalue = RC_getVariable(i);
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    int16_t targetvalue = RC_getVariable(i);
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    if (targetvalue < 0)
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    if (targetvalue < 0)
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      targetvalue = 0;
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      variables[i] = 0;
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    if (variables[i] < targetvalue && variables[i] < 255)
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    else if (targetvalue > 255)
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      variables[i]++;
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    else if (variables[i] > 0 && variables[i] > targetvalue)
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      variables[i] = 255;
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      variables[i]--;
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    else variables[i] = targetvalue;
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  }
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}
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void controlMixer_setNeutral() {
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  controlMixer_updateVariables();
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  EC_setNeutral();
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  HC_setGround();
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  FC_setNeutral();  // FC is FailsafeControl, not FlightCtrl.
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  // This is to set the home pos in navi.
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  }
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  // MKFlags |= MKFLAG_CALIBRATE;
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}
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}
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uint8_t controlMixer_getSignalQuality(void) {
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uint8_t controlMixer_getSignalQuality(void) {
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 * Update variables.
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 * Update variables.
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 * Decode commands but do not execute them.
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 * Decode commands but do not execute them.
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 */
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 */
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void controlMixer_periodicTask(void) {
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void controlMixer_periodicTask(void) {
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  int16_t tempPRTY[4] = { 0, 0, 0, 0 };
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  int16_t tempRPTY[4] = { 0, 0, 0, 0 };
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  // Decode commands.
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  // Decode commands.
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    lastArgument = RC_getArgument();
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    lastArgument = RC_getArgument();
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  } else if (ecCommand != COMMAND_NONE) {
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  } else if (ecCommand != COMMAND_NONE) {
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    isCommandRepeated = (lastCommand == ecCommand);
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    isCommandRepeated = (lastCommand == ecCommand);
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    lastCommand = ecCommand;
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    lastCommand = ecCommand;
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    lastArgument = EC_getArgument();
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    lastArgument = EC_getArgument();
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    if (ecCommand == COMMAND_GYROCAL) debugOut.digital[0] |= DEBUG_COMMAND;
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    if (ecCommand == COMMAND_ACCCAL) debugOut.digital[1] |= DEBUG_COMMAND;
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  } else {
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  } else {
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    // Both sources have no command, or one or both are out.
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    // Both sources have no command, or one or both are out.
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    // Just set to false. There is no reason to check if the none-command was repeated anyway.
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    // Just set to false. There is no reason to check if the none-command was repeated anyway.
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    isCommandRepeated = 0;
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    isCommandRepeated = 0;
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    lastCommand = COMMAND_NONE;
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    lastCommand = COMMAND_NONE;
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  }
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  }
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  // This will init the values (not just add to them).
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  // This will init the values (not just add to them).
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  RC_periodicTaskAndPRTY(tempPRTY);
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  RC_periodicTaskAndRPTY(tempRPTY);
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  // Add external control to RC
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  // Add external control to RC
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  EC_periodicTaskAndPRTY(tempPRTY);
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  EC_periodicTaskAndRPTY(tempRPTY);
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#ifdef USE_DIRECT_GPS
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#ifdef USE_DIRECT_GPS
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  if (staticParams.bitConfig & (CFG_NAVI_ENABLED))
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  if (staticParams.bitConfig & (CFG_NAVI_ENABLED))
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    navigation_periodicTaskAndPRTY(tempPRTY);
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    navigation_periodicTaskAndRPTY(tempRPTY);
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#endif
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#endif
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  // Add compass control (could also have been before navi, they are independent)
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  // Add compass control (could also have been before navi, they are independent)
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  CC_periodicTaskAndPRTY(tempPRTY);
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  // CC_periodicTaskAndRPTY(tempRPTY);
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 163 
 
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  FC_periodicTaskAndPRTY(tempPRTY);
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  FC_periodicTaskAndRPTY(tempRPTY);
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  // This is temporary. There might be some emergency height control also.
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  // This is temporary. There might be some emergency height control also.
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  if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) {
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  if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) {
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    // Add height control (could also have been before navi and/or compass, they are independent)
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    // Add height control (could also have been before navi and/or compass, they are independent)
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    HC_periodicTaskAndPRTY(tempPRTY);
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    HC_periodicTaskAndRPTY(tempRPTY);
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    // Add attitude control (could also have been before navi and/or compass, they are independent)
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    // Add attitude control (could also have been before navi and/or compass, they are independent)
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    AC_getPRTY(tempPRTY);
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    // AC_getRPTY(tempRPTY);
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 173 
  }
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  }
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  // Commit results to global variable and also measure control activity.
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  controls[CONTROL_ROLL]     = tempRPTY[CONTROL_ROLL];
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  // Commit results to global variable and also measure control activity.
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  controls[CONTROL_PITCH]    = tempRPTY[CONTROL_PITCH];
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  controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE];
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  controls[CONTROL_THROTTLE] = tempRPTY[CONTROL_THROTTLE];