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Code Issues Releases Activity

OP-288 Simplification of ManualControl code

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2478 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
FredericG 2011-01-18 19:30:50 +00:00 committed by FredericG
parent 30d8fcd2b0
commit 76420d7972
1 changed files with 59 additions and 39 deletions
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98
flight/Modules/ManualControl/manualcontrol.c
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@ -72,15 +72,62 @@ static void manualControlTask(void *parameters);
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral); static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time); static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
#define assumptions1 ( \
(MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NONE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \
(MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_RATE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \
(MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_ATTITUDE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \
)
#define assumptions2 ( \
(MANUALCONTROLSETTINGS_POS1FLIGHTMODE_MANUAL == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
(MANUALCONTROLSETTINGS_POS1FLIGHTMODE_STABILIZED == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \
(MANUALCONTROLSETTINGS_POS1FLIGHTMODE_AUTO == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \
)
#define assumptions3 ( \
(MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NONE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \
(MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_RATE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \
(MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_ATTITUDE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \
)
#define assumptions4 ( \
(MANUALCONTROLSETTINGS_POS2FLIGHTMODE_MANUAL == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
(MANUALCONTROLSETTINGS_POS2FLIGHTMODE_STABILIZED == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \
(MANUALCONTROLSETTINGS_POS2FLIGHTMODE_AUTO == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \
)
#define assumptions5 ( \
(MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NONE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \
(MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_RATE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \
(MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_ATTITUDE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \
)
#define assumptions6 ( \
(MANUALCONTROLSETTINGS_POS3FLIGHTMODE_MANUAL == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
(MANUALCONTROLSETTINGS_POS3FLIGHTMODE_STABILIZED == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \
(MANUALCONTROLSETTINGS_POS3FLIGHTMODE_AUTO == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \
)
#define assumptions (assumptions1 && assumptions2 && assumptions3 && assumptions4 && assumptions5 && assumptions6)
/** /**
* Module initialization * Module initialization
*/ */
int32_t ManualControlInitialize() int32_t ManualControlInitialize()
{ {
// The following line compiles to nothing when the assumptions are correct
if (!assumptions)
return 1;
// In case the assumptions are incorrect, this module will not initialise and so will not function
// Start main task // Start main task
xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle); TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL); PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
return 0; return 0;
} }
@ -197,51 +244,24 @@ static void manualControlTask(void *parameters)
flightMode = scaleChannel(cmd.Channel[settings.FlightMode], settings.ChannelMax[settings.FlightMode], flightMode = scaleChannel(cmd.Channel[settings.FlightMode], settings.ChannelMax[settings.FlightMode],
settings.ChannelMin[settings.FlightMode], settings.ChannelNeutral[settings.FlightMode]); settings.ChannelMin[settings.FlightMode], settings.ChannelNeutral[settings.FlightMode]);
if (flightMode < -FLIGHT_MODE_LIMIT) { // Position 1 if (flightMode < -FLIGHT_MODE_LIMIT) {
// Position 1
for(int i = 0; i < 3; i++) { for(int i = 0; i < 3; i++) {
if(settings.Pos1StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NONE) cmd.StabilizationSettings[i] = settings.Pos1StabilizationSettings[i]; // See assumptions1
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE;
else if(settings.Pos1StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_RATE)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE;
else if(settings.Pos1StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_ATTITUDE)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE;
} }
if(settings.Pos1FlightMode == MANUALCONTROLSETTINGS_POS1FLIGHTMODE_MANUAL) cmd.FlightMode = settings.Pos1FlightMode; // See assumptions2
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL; } else if (flightMode > FLIGHT_MODE_LIMIT) {
else if(settings.Pos1FlightMode == MANUALCONTROLSETTINGS_POS1FLIGHTMODE_STABILIZED) // Position 3
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
else if(settings.Pos1FlightMode == MANUALCONTROLSETTINGS_POS1FLIGHTMODE_AUTO)
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
} else if (flightMode > FLIGHT_MODE_LIMIT) { // Position 3
for(int i = 0; i < 3; i++) { for(int i = 0; i < 3; i++) {
if(settings.Pos3StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NONE) cmd.StabilizationSettings[i] = settings.Pos3StabilizationSettings[i]; // See assumptions5
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE;
else if(settings.Pos3StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_RATE)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE;
else if(settings.Pos3StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_ATTITUDE)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE;
} }
if(settings.Pos3FlightMode == MANUALCONTROLSETTINGS_POS3FLIGHTMODE_MANUAL) cmd.FlightMode = settings.Pos3FlightMode; // See assumptions6
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL; } else {
else if(settings.Pos3FlightMode == MANUALCONTROLSETTINGS_POS3FLIGHTMODE_STABILIZED) // Position 2
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
else if(settings.Pos3FlightMode == MANUALCONTROLSETTINGS_POS3FLIGHTMODE_AUTO)
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
} else { // Position 2
for(int i = 0; i < 3; i++) { for(int i = 0; i < 3; i++) {
if(settings.Pos2StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NONE) cmd.StabilizationSettings[i] = settings.Pos2StabilizationSettings[i]; // See assumptions3
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE;
else if(settings.Pos2StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_RATE)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE;
else if(settings.Pos2StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_ATTITUDE)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE;
} }
if(settings.Pos2FlightMode == MANUALCONTROLSETTINGS_POS2FLIGHTMODE_MANUAL) cmd.FlightMode = settings.Pos2FlightMode; // See assumptions4
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
else if(settings.Pos2FlightMode == MANUALCONTROLSETTINGS_POS2FLIGHTMODE_STABILIZED)
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
else if(settings.Pos2FlightMode == MANUALCONTROLSETTINGS_POS2FLIGHTMODE_AUTO)
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
} }
// Update the ManualControlCommand object // Update the ManualControlCommand object
ManualControlCommandSet(&cmd); ManualControlCommandSet(&cmd);