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Determine with an aux range is used to arm.

This commit is contained in:
Dominic Clifton 2014-10-12 21:02:45 +01:00
parent 738c807e1d
commit cfcd4792bb
5 changed files with 30 additions and 16 deletions
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1
src/main/config/config.c
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@ -426,6 +426,7 @@ void activateConfig(void)
generatePitchCurve(&currentProfile->controlRateConfig); generatePitchCurve(&currentProfile->controlRateConfig);
generateThrottleCurve(&currentProfile->controlRateConfig, &masterConfig.escAndServoConfig); generateThrottleCurve(&currentProfile->controlRateConfig, &masterConfig.escAndServoConfig);
useRcControlsConfig(currentProfile->modeActivationConditions);
useGyroConfig(&masterConfig.gyroConfig); useGyroConfig(&masterConfig.gyroConfig);
#ifdef TELEMETRY #ifdef TELEMETRY

27
src/main/io/rc_controls.c
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@ -41,6 +41,8 @@
#include "rx/rx.h" #include "rx/rx.h"
#include "io/rc_controls.h" #include "io/rc_controls.h"
static bool isUsingSticksToArm = true;
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
@ -62,7 +64,7 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, modeActivationCondition_t *modeActivationConditions, bool retarded_arm, bool disarm_kill_switch) void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch)
{ {
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos static uint8_t rcSticks; // this hold sticks position for command combos
@ -85,8 +87,6 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
rcDelayCommand = 0; rcDelayCommand = 0;
rcSticks = stTmp; rcSticks = stTmp;
bool isUsingSticksToArm = true; // FIXME calculate from modeActivationConditions // FIXME this calculation only needs to be done after loading a profile
// perform actions // perform actions
if (!isUsingSticksToArm) { if (!isUsingSticksToArm) {
@ -227,8 +227,9 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
#define MAX_AUX_CHANNEL_COUNT (MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT) #define MAX_AUX_CHANNEL_COUNT (MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT)
#include <stdio.h> #define IS_MODE_RANGE_USABLE(modeActivationCondition) (modeActivationCondition->rangeStartStep < modeActivationCondition->rangeEndStep)
void updateRcOptions(modeActivationCondition_t *modeActivationConditions)
void updateActivatedModes(modeActivationCondition_t *modeActivationConditions)
{ {
rcModeActivationMask = 0; // FIXME implement, use rcData & modeActivationConditions rcModeActivationMask = 0; // FIXME implement, use rcData & modeActivationConditions
@ -237,8 +238,7 @@ void updateRcOptions(modeActivationCondition_t *modeActivationConditions)
for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) { for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index]; modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
if (modeActivationCondition->rangeStartStep == modeActivationCondition->rangeEndStep) { if (!IS_MODE_RANGE_USABLE(modeActivationCondition)) {
printf("skipping %d\n", index);
continue; continue;
} }
@ -249,3 +249,16 @@ void updateRcOptions(modeActivationCondition_t *modeActivationConditions)
} }
} }
} }
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions)
{
uint8_t index;
for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
if (modeActivationCondition->modeId == BOXARM && IS_MODE_RANGE_USABLE(modeActivationCondition)) {
isUsingSticksToArm = false;
break;
}
}
}

6
src/main/io/rc_controls.h
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@ -127,8 +127,8 @@ extern int16_t rcCommand[4];
bool areSticksInApModePosition(uint16_t ap_mode); bool areSticksInApModePosition(uint16_t ap_mode);
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle); throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, modeActivationCondition_t *modeActivationConditions, bool retarded_arm, bool disarm_kill_switch); void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch);
void updateRcOptions(modeActivationCondition_t *modeActivationConditions); void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions);

4
src/main/mw.c
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@ -488,13 +488,13 @@ void processRx(void)
resetErrorGyro(); resetErrorGyro();
} }
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile->modeActivationConditions, masterConfig.retarded_arm, masterConfig.disarm_kill_switch); processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) { if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState(); updateInflightCalibrationState();
} }
updateRcOptions(currentProfile->modeActivationConditions); updateActivatedModes(currentProfile->modeActivationConditions);
bool canUseHorizonMode = true; bool canUseHorizonMode = true;

8
src/test/unit/rc_controls_unittest.cc
View File

@ -37,7 +37,7 @@ int constrain(int amt, int low, int high)
return amt; return amt;
} }
TEST(RcControlsTest, updateRcOptionsWithAllInputsAtMidde) TEST(RcControlsTest, updateActivatedModesWithAllInputsAtMidde)
{ {
// given // given
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT]; modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
@ -57,7 +57,7 @@ TEST(RcControlsTest, updateRcOptionsWithAllInputsAtMidde)
} }
// when // when
updateRcOptions(modeActivationConditions); updateActivatedModes(modeActivationConditions);
// then // then
for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) { for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
@ -66,7 +66,7 @@ TEST(RcControlsTest, updateRcOptionsWithAllInputsAtMidde)
} }
} }
TEST(RcControlsTest, updateRcOptionsUsingValidAuxConfigurationAndRXValues) TEST(RcControlsTest, updateActivatedModesUsingValidAuxConfigurationAndRXValues)
{ {
// given // given
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT]; modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
@ -148,7 +148,7 @@ TEST(RcControlsTest, updateRcOptionsUsingValidAuxConfigurationAndRXValues)
expectedMask |= (0 << 6); expectedMask |= (0 << 6);
// when // when
updateRcOptions(modeActivationConditions); updateActivatedModes(modeActivationConditions);
// then // then
for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) { for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {