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atbetaflight/src/main/io/rc_controls.c

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/*
* 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 "common/axis.h"
#include "common/maths.h"
#include "config/config.h"
#include "config/runtime_config.h"
#include "drivers/system.h"
#include "flight/flight.h"
#include "drivers/accgyro.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h"
#include "sensors/acceleration.h"
#include "io/gps.h"
#include "io/beeper.h"
#include "mw.h"
#include "rx/rx.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "io/rc_curves.h"
static bool isUsingSticksToArm = true;
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
bool areSticksInApModePosition(uint16_t ap_mode)
{
return abs(rcCommand[ROLL]) < ap_mode && abs(rcCommand[PITCH]) < ap_mode;
}
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
{
if (feature(FEATURE_3D) && (rcData[THROTTLE] > (rxConfig->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig->midrc + deadband3d_throttle)))
return THROTTLE_LOW;
else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->mincheck))
return THROTTLE_LOW;
return THROTTLE_HIGH;
}
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 rcSticks; // this hold sticks position for command combos
uint8_t stTmp = 0;
int i;
// ------------------ STICKS COMMAND HANDLER --------------------
// checking sticks positions
for (i = 0; i < 4; i++) {
stTmp >>= 2;
if (rcData[i] > rxConfig->mincheck)
stTmp |= 0x80; // check for MIN
if (rcData[i] < rxConfig->maxcheck)
stTmp |= 0x40; // check for MAX
}
if (stTmp == rcSticks) {
if (rcDelayCommand < 250)
rcDelayCommand++;
} else
rcDelayCommand = 0;
rcSticks = stTmp;
// perform actions
if (!isUsingSticksToArm) {
if (IS_RC_MODE_ACTIVE(BOXARM)) {
// Arming via ARM BOX
if (throttleStatus == THROTTLE_LOW) {
if (ARMING_FLAG(OK_TO_ARM)) {
mwArm();
}
}
} else {
// Disarming via ARM BOX
if (ARMING_FLAG(ARMED)) {
if (disarm_kill_switch) {
mwDisarm();
} else if (throttleStatus == THROTTLE_LOW) {
mwDisarm();
}
}
}
}
if (rcDelayCommand != 20) {
return;
}
if (ARMING_FLAG(ARMED)) {
// actions during armed
if (isUsingSticksToArm) {
// Disarm on throttle down + yaw
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE)
mwDisarm();
// Disarm on roll (only when retarded_arm is enabled)
if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO))
mwDisarm();
}
return;
}
// actions during not armed
i = 0;
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
// GYRO calibration
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
#ifdef GPS
if (feature(FEATURE_GPS)) {
GPS_reset_home_position();
}
#endif
#ifdef BARO
if (sensors(SENSOR_BARO))
baroSetCalibrationCycles(10); // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
#endif
if (!sensors(SENSOR_MAG))
heading = 0; // reset heading to zero after gyro calibration
return;
}
if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
// Inflight ACC Calibration
handleInflightCalibrationStickPosition();
return;
}
// Multiple configuration profiles
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) // ROLL left -> Profile 1
i = 1;
else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) // PITCH up -> Profile 2
i = 2;
else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) // ROLL right -> Profile 3
i = 3;
if (i) {
changeProfile(i - 1);
return;
}
if (isUsingSticksToArm) {
if (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
// Arm via YAW
mwArm();
return;
}
if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI)) {
// Arm via ROLL
mwArm();
return;
}
}
if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
// Calibrating Acc
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
return;
}
if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) {
// Calibrating Mag
ENABLE_STATE(CALIBRATE_MAG);
return;
}
// Accelerometer Trim
rollAndPitchTrims_t accelerometerTrimsDelta;
memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta));
bool shouldApplyRollAndPitchTrimDelta = false;
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
accelerometerTrimsDelta.values.pitch = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
accelerometerTrimsDelta.values.pitch = -2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
accelerometerTrimsDelta.values.roll = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
accelerometerTrimsDelta.values.roll = -2;
shouldApplyRollAndPitchTrimDelta = true;
}
if (shouldApplyRollAndPitchTrimDelta) {
applyAndSaveAccelerometerTrimsDelta(&accelerometerTrimsDelta);
rcDelayCommand = 0; // allow autorepetition
return;
}
}
bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range) {
if (!IS_RANGE_USABLE(range)) {
return false;
}
uint16_t channelValue = constrain(rcData[auxChannelIndex + NON_AUX_CHANNEL_COUNT], CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX - 1);
return (channelValue >= 900 + (range->startStep * 25) &&
channelValue < 900 + (range->endStep * 25));
}
void updateActivatedModes(modeActivationCondition_t *modeActivationConditions)
{
rcModeActivationMask = 0;
uint8_t index;
for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
if (isRangeActive(modeActivationCondition->auxChannelIndex, &modeActivationCondition->range)) {
ACTIVATE_RC_MODE(modeActivationCondition->modeId);
}
}
}
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,
.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_RC_EXPO,
.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
.step = 1
}
};
#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
typedef struct adjustmentState_s {
uint8_t auxChannelIndex;
uint8_t adjustmentFunction;
uint8_t step;
uint32_t timeoutAt;
} adjustmentState_t;
static adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
adjustmentState_t *adjustmentState = &adjustmentStates[index];
if (adjustmentState->adjustmentFunction == adjustmentConfig->adjustmentFunction) {
// already configured
return;
}
adjustmentState->auxChannelIndex = auxSwitchChannelIndex;
adjustmentState->adjustmentFunction = adjustmentConfig->adjustmentFunction;
adjustmentState->step = adjustmentConfig->step;
adjustmentState->timeoutAt = 0;
MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
}
void applyAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
int newValue;
if (delta > 0) {
queueConfirmationBeep(2);
} else {
queueConfirmationBeep(1);
}
switch(adjustmentFunction) {
case ADJUSTMENT_RC_RATE:
newValue = (int)controlRateConfig->rcRate8 + delta;
controlRateConfig->rcRate8 = constrain(newValue, 0, 250); // FIXME magic numbers repeated in serial_cli.c
generatePitchRollCurve(controlRateConfig);
break;
case ADJUSTMENT_RC_EXPO:
newValue = (int)controlRateConfig->rcExpo8 + delta;
controlRateConfig->rcExpo8 = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
generatePitchRollCurve(controlRateConfig);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
newValue = (int)controlRateConfig->rollPitchRate + delta;
controlRateConfig->rollPitchRate = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
break;
default:
break;
};
}
#define RESET_FREQUENCY_2HZ (1000 / 2)
void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig)
{
uint8_t adjustmentIndex;
uint32_t now = millis();
for (adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
uint8_t adjustmentFunction = adjustmentState->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);
}
uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
int delta;
if (rcData[channelIndex] > rxConfig->midrc + 200) {
delta = adjustmentState->step;
} else if (rcData[channelIndex] < rxConfig->midrc - 200) {
delta = 0 - adjustmentState->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;
}
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
applyAdjustment(controlRateConfig, adjustmentFunction, delta);
}
}
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);
}
}
}
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_RANGE_USABLE(&modeActivationCondition->range)) {
isUsingSticksToArm = false;
break;
}
}
}
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