rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Handle channel boundaries better. 

More efficient, less code, easier to understand.
This commit is contained in:
Dominic Clifton 2014-10-12 18:31:40 +01:00
parent 2369a63df0
commit b43fa247de
3 changed files with 10 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
src/main/io/rc_controls.c
View File

@ -233,18 +233,6 @@ void updateRcOptions(modeActivationCondition_t *modeActivationConditions)
rcModeActivationMask = 0; // FIXME implement, use rcData & modeActivationConditions
uint8_t index;
uint8_t auxChannelSteps[MAX_AUX_CHANNEL_COUNT];
for (index = 0; index < MAX_AUX_CHANNEL_COUNT; index++) {
uint16_t channelValue = rcData[index + NON_AUX_CHANNEL_COUNT];
uint16_t normalizedChannelValue = (constrain(channelValue, 900, 2100) - 900);
auxChannelSteps[index] = normalizedChannelValue / 25;
if (normalizedChannelValue > 0 && normalizedChannelValue % 25 == 0) {
auxChannelSteps[index]--;
}
printf("%d\n", auxChannelSteps[index]);
}
for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
@ -254,9 +242,9 @@ void updateRcOptions(modeActivationCondition_t *modeActivationConditions)
continue;
}
uint8_t auxChannelStep = auxChannelSteps[modeActivationCondition->auxChannelIndex];
if (auxChannelStep >= modeActivationCondition->rangeStartStep &&
auxChannelStep < modeActivationCondition->rangeEndStep) {
uint16_t channelValue = constrain(rcData[modeActivationCondition->auxChannelIndex + NON_AUX_CHANNEL_COUNT], CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX - 1);
if (channelValue >= 900 + (modeActivationCondition->rangeStartStep * 25) &&
channelValue < 900 + (modeActivationCondition->rangeEndStep * 25)) {
ACTIVATE_RC_MODE(modeActivationCondition->modeId);
}
}

6
src/main/io/rc_controls.h
View File

@ -89,9 +89,11 @@ typedef enum {
// this leaves plenty of 'slots' free for cases where you enable multiple modes for a switch
// position (like gps rth + horizon + baro + beeper)
#define CHANNEL_RANGE_MIN 900
#define CHANNEL_RANGE_MAX 2100
#define MODE_STEP_TO_CHANNEL_VALUE(step) (900 + 25 * step)
#define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain(channelValue, 900, 2100) - 900) / 25)
#define MODE_STEP_TO_CHANNEL_VALUE(step) (CHANNEL_RANGE_MIN + 25 * step)
#define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain(channelValue, CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / 25)
typedef struct modeActivationCondition_s {
boxId_e modeId;

6
src/test/unit/rc_controls_unittest.cc
View File

@ -133,9 +133,9 @@ TEST(RcControlsTest, updateRcOptionsUsingValidAuxConfigurationAndRXValues)
rcData[AUX2] = PWM_RANGE_MIDDLE;
rcData[AUX3] = PWM_RANGE_MIN;
rcData[AUX4] = PWM_RANGE_MAX;
rcData[AUX5] = 899;
rcData[AUX6] = 2101;
rcData[AUX7] = 925;
rcData[AUX5] = 899; // value lower that range minimum should be treated the same as the lowest range value
rcData[AUX6] = 2101; // value higher than the range maximum should be treated the same as the highest range value
rcData[AUX7] = 950; // value equal to range step upper boundary should not activate the mode
// and
uint32_t expectedMask = 0;