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Merge pull request #2312 from martinbudden/bf_rc_adjustments_split 

Split RC adjustments into separate module
This commit is contained in:
borisbstyle 2017-02-05 21:27:16 +01:00 committed by GitHub
parent 7cee2602d1 f2e5c7d0b4
commit 9a8124ffc4
7 changed files with 576 additions and 498 deletions
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1
Makefile
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@ -594,6 +594,7 @@ COMMON_SRC = \
fc/fc_rc.c \ fc/fc_rc.c \
fc/fc_msp.c \ fc/fc_msp.c \
fc/fc_tasks.c \ fc/fc_tasks.c \
fc/rc_adjustments.c \
fc/rc_controls.c \ fc/rc_controls.c \
fc/runtime_config.c \ fc/runtime_config.c \
fc/cli.c \ fc/cli.c \

1
src/main/config/config_master.h
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@ -35,6 +35,7 @@
#include "drivers/flash.h" #include "drivers/flash.h"
#include "drivers/display.h" #include "drivers/display.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h" #include "fc/rc_controls.h"
#include "flight/failsafe.h" #include "flight/failsafe.h"

6
src/main/fc/config.c
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@ -890,10 +890,8 @@ void activateConfig(void)
{ {
resetAdjustmentStates(); resetAdjustmentStates();
useRcControlsConfig( useRcControlsConfig(modeActivationProfile()->modeActivationConditions, &currentProfile->pidProfile);
modeActivationProfile()->modeActivationConditions, useAdjustmentConfig(&currentProfile->pidProfile);
&currentProfile->pidProfile
);
#ifdef GPS #ifdef GPS
gpsUseProfile(&masterConfig.gpsProfile); gpsUseProfile(&masterConfig.gpsProfile);

456
src/main/fc/rc_adjustments.c Normal file
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@ -0,0 +1,456 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#include "blackbox/blackbox.h"
#include "build/build_config.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/utils.h"
#include "drivers/system.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "config/feature.h"
#include "config/config_master.h"
#include "flight/pid.h"
#include "io/beeper.h"
#include "io/motors.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "fc/rc_curves.h"
#include "fc/config.h"
#include "rx/rx.h"
static pidProfile_t *pidProfile;
static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue)
{
#ifndef BLACKBOX
UNUSED(adjustmentFunction);
UNUSED(newValue);
#else
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_inflightAdjustment_t eventData;
eventData.adjustmentFunction = adjustmentFunction;
eventData.newValue = newValue;
eventData.floatFlag = false;
blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
}
#endif
}
#if 0
static void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue)
{
#ifndef BLACKBOX
UNUSED(adjustmentFunction);
UNUSED(newFloatValue);
#else
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_inflightAdjustment_t eventData;
eventData.adjustmentFunction = adjustmentFunction;
eventData.newFloatValue = newFloatValue;
eventData.floatFlag = true;
blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
}
#endif
}
#endif
static uint8_t adjustmentStateMask = 0;
#define MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex) adjustmentStateMask |= (1 << adjustmentIndex)
#define MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex) adjustmentStateMask &= ~(1 << adjustmentIndex)
#define IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex) (adjustmentStateMask & (1 << adjustmentIndex))
// sync with adjustmentFunction_e
static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = {
{
.adjustmentFunction = ADJUSTMENT_RC_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_RC_EXPO,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_YAW_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_YAW_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_YAW_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_YAW_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
.mode = ADJUSTMENT_MODE_SELECT,
.data = { .selectConfig = { .switchPositions = 3 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_ROLL_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_ROLL_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_ROLL_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_ROLL_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_RC_RATE_YAW,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_D_SETPOINT,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_D_SETPOINT_TRANSITION,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}
};
#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
static adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
static void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig)
{
adjustmentState_t *adjustmentState = &adjustmentStates[index];
if (adjustmentState->config == adjustmentConfig) {
// already configured
return;
}
adjustmentState->auxChannelIndex = auxSwitchChannelIndex;
adjustmentState->config = adjustmentConfig;
adjustmentState->timeoutAt = 0;
MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
}
static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta)
{
int newValue;
if (delta > 0) {
beeperConfirmationBeeps(2);
} else {
beeperConfirmationBeeps(1);
}
switch(adjustmentFunction) {
case ADJUSTMENT_RC_RATE:
newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in cli.c
controlRateConfig->rcRate8 = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE, newValue);
break;
case ADJUSTMENT_RC_EXPO:
newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
controlRateConfig->rcExpo8 = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_EXPO, newValue);
break;
case ADJUSTMENT_THROTTLE_EXPO:
newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
controlRateConfig->thrExpo8 = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
controlRateConfig->rates[FD_PITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
case ADJUSTMENT_ROLL_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
controlRateConfig->rates[FD_ROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
break;
case ADJUSTMENT_YAW_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
controlRateConfig->rates[FD_YAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_P:
case ADJUSTMENT_PITCH_P:
newValue = constrain((int)pidProfile->P8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->P8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_P
case ADJUSTMENT_ROLL_P:
newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->P8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_I:
case ADJUSTMENT_PITCH_I:
newValue = constrain((int)pidProfile->I8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->I8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_I
case ADJUSTMENT_ROLL_I:
newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->I8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D:
newValue = constrain((int)pidProfile->D8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->D8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_D
case ADJUSTMENT_ROLL_D:
newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->D8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
break;
case ADJUSTMENT_YAW_P:
newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->P8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
break;
case ADJUSTMENT_YAW_I:
newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->I8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
break;
case ADJUSTMENT_YAW_D:
newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->D8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
break;
case ADJUSTMENT_RC_RATE_YAW:
newValue = constrain((int)controlRateConfig->rcYawRate8 + delta, 0, 300); // FIXME magic numbers repeated in cli.c
controlRateConfig->rcYawRate8 = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
break;
case ADJUSTMENT_D_SETPOINT:
newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 254); // FIXME magic numbers repeated in cli.c
pidProfile->dtermSetpointWeight = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
break;
case ADJUSTMENT_D_SETPOINT_TRANSITION:
newValue = constrain((int)pidProfile->setpointRelaxRatio + delta, 0, 100); // FIXME magic numbers repeated in cli.c
pidProfile->setpointRelaxRatio = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT_TRANSITION, newValue);
break;
default:
break;
};
}
static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
{
bool applied = false;
switch(adjustmentFunction) {
case ADJUSTMENT_RATE_PROFILE:
if (getCurrentControlRateProfile() != position) {
changeControlRateProfile(position);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position);
applied = true;
}
break;
}
if (applied) {
beeperConfirmationBeeps(position + 1);
}
}
#define RESET_FREQUENCY_2HZ (1000 / 2)
void processRcAdjustments(controlRateConfig_t *controlRateConfig)
{
const uint32_t now = millis();
const bool canUseRxData = rxIsReceivingSignal();
for (int adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
if (!adjustmentState->config) {
continue;
}
const uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
if (adjustmentFunction == ADJUSTMENT_NONE) {
continue;
}
const int32_t signedDiff = now - adjustmentState->timeoutAt;
const bool canResetReadyStates = signedDiff >= 0L;
if (canResetReadyStates) {
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
}
if (!canUseRxData) {
continue;
}
const uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
int delta;
if (rcData[channelIndex] > rxConfig()->midrc + 200) {
delta = adjustmentState->config->data.stepConfig.step;
} else if (rcData[channelIndex] < rxConfig()->midrc - 200) {
delta = 0 - adjustmentState->config->data.stepConfig.step;
} else {
// returning the switch to the middle immediately resets the ready state
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
continue;
}
if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
continue;
}
applyStepAdjustment(controlRateConfig,adjustmentFunction,delta);
pidInitConfig(pidProfile);
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
const uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
const uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
applySelectAdjustment(adjustmentFunction, position);
}
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
}
}
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
{
for (int index = 0; index < MAX_ADJUSTMENT_RANGE_COUNT; index++) {
adjustmentRange_t *adjustmentRange = &adjustmentRanges[index];
if (isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {
const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentFunction - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
configureAdjustment(adjustmentRange->adjustmentIndex, adjustmentRange->auxSwitchChannelIndex, adjustmentConfig);
}
}
}
void resetAdjustmentStates(void)
{
memset(adjustmentStates, 0, sizeof(adjustmentStates));
}
void useAdjustmentConfig(pidProfile_t *pidProfileToUse)
{
pidProfile = pidProfileToUse;
}

116
src/main/fc/rc_adjustments.h Normal file
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@ -0,0 +1,116 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdbool.h>
#include "config/parameter_group.h"
#include "fc/rc_controls.h"
typedef enum {
ADJUSTMENT_NONE = 0,
ADJUSTMENT_RC_RATE,
ADJUSTMENT_RC_EXPO,
ADJUSTMENT_THROTTLE_EXPO,
ADJUSTMENT_PITCH_ROLL_RATE,
ADJUSTMENT_YAW_RATE,
ADJUSTMENT_PITCH_ROLL_P,
ADJUSTMENT_PITCH_ROLL_I,
ADJUSTMENT_PITCH_ROLL_D,
ADJUSTMENT_YAW_P,
ADJUSTMENT_YAW_I,
ADJUSTMENT_YAW_D,
ADJUSTMENT_RATE_PROFILE,
ADJUSTMENT_PITCH_RATE,
ADJUSTMENT_ROLL_RATE,
ADJUSTMENT_PITCH_P,
ADJUSTMENT_PITCH_I,
ADJUSTMENT_PITCH_D,
ADJUSTMENT_ROLL_P,
ADJUSTMENT_ROLL_I,
ADJUSTMENT_ROLL_D,
ADJUSTMENT_RC_RATE_YAW,
ADJUSTMENT_D_SETPOINT,
ADJUSTMENT_D_SETPOINT_TRANSITION,
ADJUSTMENT_FUNCTION_COUNT
} adjustmentFunction_e;
typedef enum {
ADJUSTMENT_MODE_STEP,
ADJUSTMENT_MODE_SELECT
} adjustmentMode_e;
typedef struct adjustmentStepConfig_s {
uint8_t step;
} adjustmentStepConfig_t;
typedef struct adjustmentSelectConfig_s {
uint8_t switchPositions;
} adjustmentSelectConfig_t;
typedef union adjustmentConfig_u {
adjustmentStepConfig_t stepConfig;
adjustmentSelectConfig_t selectConfig;
} adjustmentData_t;
typedef struct adjustmentConfig_s {
uint8_t adjustmentFunction;
uint8_t mode;
adjustmentData_t data;
} adjustmentConfig_t;
typedef struct adjustmentRange_s {
// when aux channel is in range...
uint8_t auxChannelIndex;
channelRange_t range;
// ..then apply the adjustment function to the auxSwitchChannel ...
uint8_t adjustmentFunction;
uint8_t auxSwitchChannelIndex;
// ... via slot
uint8_t adjustmentIndex;
} adjustmentRange_t;
#define ADJUSTMENT_INDEX_OFFSET 1
typedef struct adjustmentState_s {
uint8_t auxChannelIndex;
const adjustmentConfig_t *config;
uint32_t timeoutAt;
} adjustmentState_t;
#ifndef MAX_SIMULTANEOUS_ADJUSTMENT_COUNT
#define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel
#endif
#define MAX_ADJUSTMENT_RANGE_COUNT 15
PG_DECLARE_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges);
typedef struct adjustmentProfile_s {
adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
} adjustmentProfile_t;
void resetAdjustmentStates(void);
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
struct controlRateConfig_s;
void processRcAdjustments(struct controlRateConfig_s *controlRateConfig);
struct pidProfile_s;
void useAdjustmentConfig(struct pidProfile_s *pidProfileToUse);

401
src/main/fc/rc_controls.c
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@ -74,37 +74,6 @@ bool isAirmodeActive(void) {
return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE)); return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
} }
void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
#ifndef BLACKBOX
#define UNUSED(x) (void)(x)
UNUSED(adjustmentFunction);
UNUSED(newValue);
#else
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_inflightAdjustment_t eventData;
eventData.adjustmentFunction = adjustmentFunction;
eventData.newValue = newValue;
eventData.floatFlag = false;
blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
}
#endif
}
void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue) {
#ifndef BLACKBOX
UNUSED(adjustmentFunction);
UNUSED(newFloatValue);
#else
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_inflightAdjustment_t eventData;
eventData.adjustmentFunction = adjustmentFunction;
eventData.newFloatValue = newFloatValue;
eventData.floatFlag = true;
blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
}
#endif
}
bool isUsingSticksForArming(void) bool isUsingSticksForArming(void)
{ {
return isUsingSticksToArm; return isUsingSticksToArm;
@ -358,371 +327,6 @@ void updateActivatedModes(modeActivationCondition_t *modeActivationConditions)
} }
} }
uint8_t adjustmentStateMask = 0;
#define MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex) adjustmentStateMask |= (1 << adjustmentIndex)
#define MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex) adjustmentStateMask &= ~(1 << adjustmentIndex)
#define IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex) (adjustmentStateMask & (1 << adjustmentIndex))
// sync with adjustmentFunction_e
static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = {
{
.adjustmentFunction = ADJUSTMENT_RC_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_RC_EXPO,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_YAW_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_YAW_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_YAW_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_YAW_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
.mode = ADJUSTMENT_MODE_SELECT,
.data = { .selectConfig = { .switchPositions = 3 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_ROLL_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_ROLL_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_ROLL_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_ROLL_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_RC_RATE_YAW,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_D_SETPOINT,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_D_SETPOINT_TRANSITION,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}
};
#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
static void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
adjustmentState_t *adjustmentState = &adjustmentStates[index];
if (adjustmentState->config == adjustmentConfig) {
// already configured
return;
}
adjustmentState->auxChannelIndex = auxSwitchChannelIndex;
adjustmentState->config = adjustmentConfig;
adjustmentState->timeoutAt = 0;
MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
}
static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
int newValue;
if (delta > 0) {
beeperConfirmationBeeps(2);
} else {
beeperConfirmationBeeps(1);
}
switch(adjustmentFunction) {
case ADJUSTMENT_RC_RATE:
newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in cli.c
controlRateConfig->rcRate8 = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE, newValue);
break;
case ADJUSTMENT_RC_EXPO:
newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
controlRateConfig->rcExpo8 = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_EXPO, newValue);
break;
case ADJUSTMENT_THROTTLE_EXPO:
newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
controlRateConfig->thrExpo8 = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
controlRateConfig->rates[FD_PITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
case ADJUSTMENT_ROLL_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
controlRateConfig->rates[FD_ROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
break;
case ADJUSTMENT_YAW_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
controlRateConfig->rates[FD_YAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_P:
case ADJUSTMENT_PITCH_P:
newValue = constrain((int)pidProfile->P8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->P8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_P
case ADJUSTMENT_ROLL_P:
newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->P8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_I:
case ADJUSTMENT_PITCH_I:
newValue = constrain((int)pidProfile->I8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->I8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_I
case ADJUSTMENT_ROLL_I:
newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->I8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D:
newValue = constrain((int)pidProfile->D8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->D8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_D
case ADJUSTMENT_ROLL_D:
newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->D8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
break;
case ADJUSTMENT_YAW_P:
newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->P8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
break;
case ADJUSTMENT_YAW_I:
newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->I8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
break;
case ADJUSTMENT_YAW_D:
newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->D8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
break;
case ADJUSTMENT_RC_RATE_YAW:
newValue = constrain((int)controlRateConfig->rcYawRate8 + delta, 0, 300); // FIXME magic numbers repeated in cli.c
controlRateConfig->rcYawRate8 = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
break;
case ADJUSTMENT_D_SETPOINT:
newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 254); // FIXME magic numbers repeated in cli.c
pidProfile->dtermSetpointWeight = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
break;
case ADJUSTMENT_D_SETPOINT_TRANSITION:
newValue = constrain((int)pidProfile->setpointRelaxRatio + delta, 0, 100); // FIXME magic numbers repeated in cli.c
pidProfile->setpointRelaxRatio = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT_TRANSITION, newValue);
break;
default:
break;
};
}
static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
{
bool applied = false;
switch(adjustmentFunction) {
case ADJUSTMENT_RATE_PROFILE:
if (getCurrentControlRateProfile() != position) {
changeControlRateProfile(position);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position);
applied = true;
}
break;
}
if (applied) {
beeperConfirmationBeeps(position + 1);
}
}
#define RESET_FREQUENCY_2HZ (1000 / 2)
void processRcAdjustments(controlRateConfig_t *controlRateConfig)
{
uint8_t adjustmentIndex;
uint32_t now = millis();
bool canUseRxData = rxIsReceivingSignal();
for (adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
if (!adjustmentState->config) {
continue;
}
uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
if (adjustmentFunction == ADJUSTMENT_NONE) {
continue;
}
int32_t signedDiff = now - adjustmentState->timeoutAt;
bool canResetReadyStates = signedDiff >= 0L;
if (canResetReadyStates) {
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
}
if (!canUseRxData) {
continue;
}
uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
int delta;
if (rcData[channelIndex] > rxConfig()->midrc + 200) {
delta = adjustmentState->config->data.stepConfig.step;
} else if (rcData[channelIndex] < rxConfig()->midrc - 200) {
delta = 0 - adjustmentState->config->data.stepConfig.step;
} else {
// returning the switch to the middle immediately resets the ready state
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
continue;
}
if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
continue;
}
applyStepAdjustment(controlRateConfig,adjustmentFunction,delta);
pidInitConfig(pidProfile);
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
applySelectAdjustment(adjustmentFunction, position);
}
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
}
}
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
{
uint8_t index;
for (index = 0; index < MAX_ADJUSTMENT_RANGE_COUNT; index++) {
adjustmentRange_t *adjustmentRange = &adjustmentRanges[index];
if (isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {
const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentFunction - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
configureAdjustment(adjustmentRange->adjustmentIndex, adjustmentRange->auxSwitchChannelIndex, adjustmentConfig);
}
}
}
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) { int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
return MIN(ABS(rcData[axis] - midrc), 500); return MIN(ABS(rcData[axis] - midrc), 500);
} }
@ -733,8 +337,3 @@ void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditio
isUsingSticksToArm = !isModeActivationConditionPresent(modeActivationConditions, BOXARM); isUsingSticksToArm = !isModeActivationConditionPresent(modeActivationConditions, BOXARM);
} }
void resetAdjustmentStates(void)
{
memset(adjustmentStates, 0, sizeof(adjustmentStates));
}

93
src/main/fc/rc_controls.h
View File

@ -204,104 +204,11 @@ void processRcStickPositions(throttleStatus_e throttleStatus);
bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range); bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
void updateActivatedModes(modeActivationCondition_t *modeActivationConditions); void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
typedef enum {
ADJUSTMENT_NONE = 0,
ADJUSTMENT_RC_RATE,
ADJUSTMENT_RC_EXPO,
ADJUSTMENT_THROTTLE_EXPO,
ADJUSTMENT_PITCH_ROLL_RATE,
ADJUSTMENT_YAW_RATE,
ADJUSTMENT_PITCH_ROLL_P,
ADJUSTMENT_PITCH_ROLL_I,
ADJUSTMENT_PITCH_ROLL_D,
ADJUSTMENT_YAW_P,
ADJUSTMENT_YAW_I,
ADJUSTMENT_YAW_D,
ADJUSTMENT_RATE_PROFILE,
ADJUSTMENT_PITCH_RATE,
ADJUSTMENT_ROLL_RATE,
ADJUSTMENT_PITCH_P,
ADJUSTMENT_PITCH_I,
ADJUSTMENT_PITCH_D,
ADJUSTMENT_ROLL_P,
ADJUSTMENT_ROLL_I,
ADJUSTMENT_ROLL_D,
ADJUSTMENT_RC_RATE_YAW,
ADJUSTMENT_D_SETPOINT,
ADJUSTMENT_D_SETPOINT_TRANSITION,
ADJUSTMENT_FUNCTION_COUNT
} adjustmentFunction_e;
typedef enum {
ADJUSTMENT_MODE_STEP,
ADJUSTMENT_MODE_SELECT
} adjustmentMode_e;
typedef struct adjustmentStepConfig_s {
uint8_t step;
} adjustmentStepConfig_t;
typedef struct adjustmentSelectConfig_s {
uint8_t switchPositions;
} adjustmentSelectConfig_t;
typedef union adjustmentConfig_u {
adjustmentStepConfig_t stepConfig;
adjustmentSelectConfig_t selectConfig;
} adjustmentData_t;
typedef struct adjustmentConfig_s {
uint8_t adjustmentFunction;
uint8_t mode;
adjustmentData_t data;
} adjustmentConfig_t;
typedef struct adjustmentRange_s {
// when aux channel is in range...
uint8_t auxChannelIndex;
channelRange_t range;
// ..then apply the adjustment function to the auxSwitchChannel ...
uint8_t adjustmentFunction;
uint8_t auxSwitchChannelIndex;
// ... via slot
uint8_t adjustmentIndex;
} adjustmentRange_t;
#define ADJUSTMENT_INDEX_OFFSET 1
typedef struct adjustmentState_s {
uint8_t auxChannelIndex;
const adjustmentConfig_t *config;
uint32_t timeoutAt;
} adjustmentState_t;
#ifndef MAX_SIMULTANEOUS_ADJUSTMENT_COUNT
#define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel
#endif
#define MAX_ADJUSTMENT_RANGE_COUNT 15
PG_DECLARE_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges);
typedef struct adjustmentProfile_s {
adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
} adjustmentProfile_t;
bool isAirmodeActive(void); bool isAirmodeActive(void);
void resetAdjustmentStates(void);
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
struct rxConfig_s;
void processRcAdjustments(controlRateConfig_t *controlRateConfig);
bool isUsingSticksForArming(void); bool isUsingSticksForArming(void);
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc); int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
bool isModeActivationConditionPresent(const modeActivationCondition_t *modeActivationConditions, boxId_e modeId); bool isModeActivationConditionPresent(const modeActivationCondition_t *modeActivationConditions, boxId_e modeId);
struct pidProfile_s; struct pidProfile_s;
struct motorConfig_s;
void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, struct pidProfile_s *pidProfileToUse); void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, struct pidProfile_s *pidProfileToUse);