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Rev 2069 Rev 2189
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#include "externalControl.h"
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#include "externalControl.h"
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#include "configuration.h"
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#include "configuration.h"
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#include "controlMixer.h"
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//#include "controlMixer.h"
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#include "definitions.h"
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ExternalControl_t externalControl;
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ExternalControl_t externalControl;
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uint8_t externalControlActive = 0;
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// int16_t EC_PRTY[4];
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volatile uint8_t externalControlActive;
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// TODO: Who is going to call this
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// TODO: Who is going to call this
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void EC_setNeutral(void) {
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void EC_setNeutral(void) {
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  // if necessary. From main.c.
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  // if necessary. From main.c.
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  externalControl.command = 0;
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  externalControl.config = 0;
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  externalControl.argument = 0;
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  externalControl.pitch = 0;
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  externalControl.pitch = 0;
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  externalControl.roll = 0;
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  externalControl.roll = 0;
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  externalControl.yaw = 0;
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  externalControl.yaw = 0;
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  externalControl.throttle = 0;
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  externalControl.throttle = 0;
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  // From main.c. What does it do??
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  // From main.c. What does it do??
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  externalControl.digital[0] = 0x55;
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  externalControl.digital[0] = 0x55;
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}
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}
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void EC_periodicTaskAndPRTY(int16_t* PRTY) {
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void EC_periodicTaskAndRPTY(int16_t* RPTY) {
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  if (externalControlActive) {
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  if (externalControlActive) {
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    externalControlActive--;
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    externalControlActive--;
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    PRTY[CONTROL_PITCH] += externalControl.pitch * (int16_t) staticParams.stickP;
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    RPTY[CONTROL_PITCH] += externalControl.pitch * (int16_t) staticParams.stickP;
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    PRTY[CONTROL_ROLL] += externalControl.roll * (int16_t) staticParams.stickP;
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    RPTY[CONTROL_ROLL] += externalControl.roll * (int16_t) staticParams.stickP;
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    PRTY[CONTROL_THROTTLE] += externalControl.throttle;
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    RPTY[CONTROL_THROTTLE] += externalControl.throttle;
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    PRTY[CONTROL_YAW] += externalControl.yaw; // No stickP or similar??????
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    RPTY[CONTROL_YAW] += externalControl.yaw; // No stickP or similar??????
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  }
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  }
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}
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}
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uint8_t EC_getArgument(void) {
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uint8_t EC_getArgument(void) {
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  return externalControl.config;
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  return externalControl.argument;
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}
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}
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  if (externalControlActive)
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  if (externalControlActive)
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    // Configured and heard from
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    // Configured and heard from
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    return SIGNAL_OK;
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    return SIGNAL_OK;
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  if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128))
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  if (dynamicParams.externalControl < 128)
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    // External control is not even configured.
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    // External control is not even configured.
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    return NO_SIGNAL;
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    return NO_SIGNAL;