Subversion Repositories FlightCtrl

#include "externalcontrol.h"
#include "configuration.h"
#include "controlMixer.h"

ExternalControl_t externalControl;
uint8_t externalControlActive;

int16_t EC_EATR[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_getEATR(void) {
        return EC_EATR;
}

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_EATR[CONTROL_ELEVATOR] = externalControl.pitch * 4;
    EC_EATR[CONTROL_AILERONS] = externalControl.roll * 4;
    EC_EATR[CONTROL_THROTTLE] = externalControl.throttle;
    EC_EATR[CONTROL_RUDDER  ] = externalControl.yaw; // No stickP or similar??????
  } else {
    EC_EATR[CONTROL_ELEVATOR] = EC_EATR[CONTROL_AILERONS] = EC_EATR[CONTROL_THROTTLE] = EC_EATR[CONTROL_RUDDER] = 0;
  }
}

uint8_t EC_getSignalQuality(void) {
  if (externalControlActive > 40)
    // 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;
}