Subversion Repositories FlightCtrl

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

ExternalControl_t externalControl;
uint8_t externalControlActive;

int16_t EC_PRTY[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_getPRTY(void) {
  return EC_PRTY;
}

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_PRTY[CONTROL_PITCH] = (int16_t) externalControl.pitch * (int16_t) staticParams.StickP;
    EC_PRTY[CONTROL_ROLL] = externalControl.roll * (int16_t) staticParams.StickP;
    EC_PRTY[CONTROL_THROTTLE] = externalControl.throttle;
    EC_PRTY[CONTROL_YAW] = externalControl.yaw; // No stickP or similar??????
  } else {
    EC_PRTY[CONTROL_PITCH] = EC_PRTY[CONTROL_ROLL] = EC_PRTY[CONTROL_THROTTLE] = EC_PRTY[CONTROL_YAW] = 0;
  }
}

uint8_t EC_getSignalQuality(void) {
  if (externalControlActive > 80)
    // 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;
}