Subversion Repositories FlightCtrl

#include <stdlib.h>
#include "controlMixer.h"
#include "rc.h"
#include "heightControl.h"
#include "attitudeControl.h"
#include "externalControl.h"
#include "compassControl.h"
#include "failsafeControl.h"
#include "naviControl.h"
#include "configuration.h"
#include "attitude.h"
#include "commands.h"
#include "output.h"

// uint16_t maxControl[2] = { 0, 0 };
uint16_t controlActivity = 0;
int16_t controls[4] = { 0, 0, 0, 0 };

// Internal variables for reading commands made with an R/C stick.
uint8_t lastCommand = COMMAND_NONE;
uint8_t lastArgument;

uint8_t isCommandRepeated = 0;
uint8_t controlMixer_didReceiveSignal = 0;

/*
 * This could be expanded to take arguments from ohter sources than the RC
 * (read: Custom MK RC project)
 */
uint8_t controlMixer_getArgument(void) {
  return lastArgument;
}

/*
 * This could be expanded to take calibrate / start / stop commands from ohter sources
 * than the R/C (read: Custom MK R/C project)
 */
uint8_t controlMixer_getCommand(void) {
  return lastCommand;
}

uint8_t controlMixer_isCommandRepeated(void) {
  return isCommandRepeated;
}

void controlMixer_setNeutral() {
  for (uint8_t i=0; i<VARIABLE_COUNT; i++) {
    variables[i] = RC_getVariable(i);
  }
  EC_setNeutral();
  HC_setGround();
  FC_setNeutral();  // FC is FailsafeControl, not FlightCtrl.

  // This is to set the home pos in navi.
  // MKFlags |= MKFLAG_CALIBRATE;
}

/*
 * Update potentiometer values with limited slew rate. Could be made faster if desired.
 * TODO: It assumes R/C as source. Not necessarily true.
 */
void controlMixer_updateVariables(void) {
  uint8_t i;
  int16_t targetvalue;
  for (i=0; i < VARIABLE_COUNT; i++) {
    targetvalue = RC_getVariable(i);
    if (targetvalue < 0)
      targetvalue = 0;
    if (variables[i] < targetvalue && variables[i] < 255)
      variables[i]++;
    else if (variables[i] > 0 && variables[i] > targetvalue)
      variables[i]--;
  }
}

uint8_t controlMixer_getSignalQuality(void) {
  uint8_t rcQ = RC_getSignalQuality();
  uint8_t ecQ = EC_getSignalQuality();
 
  // This needs not be the only correct solution...
  return rcQ > ecQ ? rcQ : ecQ;
}

void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) {
  int16_t tmp = controls[index];
  controls[index] = newValue;
 
  tmp -= newValue;
  tmp /= 2;
  tmp = tmp * tmp;
  // tmp += (newValue >= 0) ? newValue : -newValue;
  /*
  if (controlActivity + (uint16_t)tmp >= controlActivity)
    controlActivity += tmp;
  else controlActivity = 0xffff;
  */
  if (controlActivity + (uint16_t)tmp < 0x8000)
    controlActivity += tmp;
}

#define CADAMPING 10
void dampenControlActivity(void) {
  uint32_t tmp = controlActivity;
  tmp *= ((1<<CADAMPING)-1);
  tmp >>= CADAMPING;
  controlActivity = tmp;
}

/*
 * Update the variables indicating stick position from the sum of R/C, GPS and external control
 * and whatever other controls we invented in the meantime...
 * Update variables.
 * Decode commands but do not execute them.
 */

void controlMixer_periodicTask(void) {
  int16_t tempPRTY[4] = { 0, 0, 0, 0 };

  // Decode commands.
  uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand()
    : COMMAND_NONE;

  debugOut.analog[31] = rcCommand;

  uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand()
    : COMMAND_NONE;

  // Update variables ("potis").
  if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) {
    controlMixer_updateVariables();
    controlMixer_didReceiveSignal = 1;
  } else { // Signal is not OK
    // Could handle switch to emergency flight here.
    // throttle is handled elsewhere.
  }

  if (rcCommand != COMMAND_NONE) {
    isCommandRepeated = (lastCommand == rcCommand);
    lastCommand = rcCommand;
    lastArgument = RC_getArgument();
  } else if (ecCommand != COMMAND_NONE) {
    isCommandRepeated = (lastCommand == ecCommand);
    lastCommand = ecCommand;
    lastArgument = EC_getArgument();
  } else {
    // Both sources have no command, or one or both are out.
    // Just set to false. There is no reason to check if the none-command was repeated anyway.
    isCommandRepeated = 0;
    lastCommand = COMMAND_NONE;
  }
 
  // This will init the values (not just add to them).
  RC_periodicTaskAndPRTY(tempPRTY);

  debugOut.analog[16] = tempPRTY[CONTROL_PITCH];
  debugOut.analog[17] = tempPRTY[CONTROL_ROLL];
  debugOut.analog[18] = tempPRTY[CONTROL_THROTTLE];
  debugOut.analog[19] = tempPRTY[CONTROL_YAW];

  // Add external control to RC
  EC_periodicTaskAndPRTY(tempPRTY);

#ifdef USE_DIRECT_GPS
  if (staticParams.bitConfig & (CFG_COMPASS_ENABLED))
    navigation_periodicTaskAndPRTY(tempPRTY);
#endif

  // Add compass control (could also have been before navi, they are independent)
  CC_periodicTaskAndPRTY(tempPRTY);

  FC_periodicTaskAndPRTY(tempPRTY);

  // This is temporary. There might be some emergency height control also.
  if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) {
    // Add height control (could also have been before navi and/or compass, they are independent)
    HC_periodicTaskAndPRTY(tempPRTY);

    // Add attitude control (could also have been before navi and/or compass, they are independent)
    AC_getPRTY(tempPRTY);
  }

  // Commit results to global variable and also measure control activity.
  controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE];
  updateControlAndMeasureControlActivity(CONTROL_PITCH, tempPRTY[CONTROL_PITCH]);
  updateControlAndMeasureControlActivity(CONTROL_ROLL, tempPRTY[CONTROL_ROLL]);
  updateControlAndMeasureControlActivity(CONTROL_YAW, tempPRTY[CONTROL_YAW]);
  dampenControlActivity();
 
  // We can safely do this even with a bad signal - the variables will not have been updated then.
  configuration_applyVariablesToParams();
 
  // part1a end.
 
  /* This is not really necessary with the dead-band feature on all sticks (see rc.c)
     if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) {
     if (controlYaw > 2) controlYaw-= 2;
     else if (controlYaw< -2) controlYaw += 2;
     else controlYaw = 0;
     }
  */
 
  /*
   * Record maxima. Predecessor of the control activity stuff.
   for (axis = PITCH; axis <= ROLL; axis++) {
   if (abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) {
   maxControl[axis] = abs(control[axis]) / CONTROL_SCALING;
   if (maxControl[axis] > 100)
   maxControl[axis] = 100;
   } else if (maxControl[axis])
   maxControl[axis]--;
   }
  */
 }