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LibrePilot/flight/Modules/ManualControl/manualcontrol.c

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup ManualControlModule Manual Control Module
* @brief Provide manual control or allow it alter flight mode.
* @{
*
* Reads in the ManualControlCommand FlightMode setting from receiver then either
* pass the settings straght to ActuatorDesired object (manual mode) or to
* AttitudeDesired object (stabilized mode)
*
* @file manualcontrol.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief ManualControl module. Handles safety R/C link and flight mode.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "manualcontrol.h"
#include "manualcontrolsettings.h"
#include "stabilizationsettings.h"
#include "manualcontrolcommand.h"
#include "actuatordesired.h"
#include "stabilizationdesired.h"
#include "flighttelemetrystats.h"
// Private constants
#if defined(PIOS_MANUAL_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
#else
#define STACK_SIZE_BYTES 824
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define UPDATE_PERIOD_MS 20
#define THROTTLE_FAILSAFE -0.1
#define FLIGHT_MODE_LIMIT 1.0/3.0
#define ARMED_TIME_MS 1000
//safe band to allow a bit of calibration error or trim offset (in microseconds)
#define CONNECTION_OFFSET 150
// Private types
typedef enum
{
ARM_STATE_DISARMED,
ARM_STATE_ARMING_MANUAL,
ARM_STATE_ARMED,
ARM_STATE_DISARMING_MANUAL,
ARM_STATE_DISARMING_TIMEOUT
} ArmState_t;
// Private variables
static xTaskHandle taskHandle;
static ArmState_t armState;
// Private functions
static void updateActuatorDesired(ManualControlCommandData * cmd);
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void manualControlTask(void *parameters);
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral, int16_t deadband_percent);
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
static bool okToArm(void);
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
#define assumptions1 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions3 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions5 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define ARMING_CHANNEL_ROLL 0
#define ARMING_CHANNEL_PITCH 1
#define ARMING_CHANNEL_YAW 2
#define assumptions7 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \
)
#define assumptions8 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \
)
#define assumptions_flightmode ( \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED1) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED2) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED3) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_VELOCITYCONTROL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_POSITIONHOLD) \
)
#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
/**
* Module initialization
*/
int32_t ManualControlInitialize()
{
/* Check the assumptions about uavobject enum's are correct */
if(!assumptions)
return -1;
// Start main task
xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
return 0;
}
/**
* Module task
*/
static void manualControlTask(void *parameters)
{
ManualControlSettingsData settings;
ManualControlCommandData cmd;
portTickType lastSysTime;
float flightMode = 0;
uint8_t disconnected_count = 0;
uint8_t connected_count = 0;
enum { CONNECTED, DISCONNECTED } connection_state = DISCONNECTED;
// Make sure unarmed on power up
ManualControlCommandGet(&cmd);
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
ManualControlCommandSet(&cmd);
armState = ARM_STATE_DISARMED;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1) {
float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
// Wait until next update
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
// Read settings
ManualControlSettingsGet(&settings);
if (ManualControlCommandReadOnly(&cmd)) {
FlightTelemetryStatsData flightTelemStats;
FlightTelemetryStatsGet(&flightTelemStats);
if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
UAVObjGetMetadata(&cmd, &metadata);
metadata.access = ACCESS_READWRITE;
UAVObjSetMetadata(&cmd, &metadata);
}
}
if (!ManualControlCommandReadOnly(&cmd)) {
// Read channel values in us
// TODO: settings.InputMode is currently ignored because PIOS will not allow runtime
// selection of PWM and PPM. The configuration is currently done at compile time in
// the pios_config.h file.
for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
#if defined(PIOS_INCLUDE_PWM)
cmd.Channel[n] = PIOS_PWM_Get(n);
#elif defined(PIOS_INCLUDE_PPM)
cmd.Channel[n] = PIOS_PPM_Get(n);
#elif defined(PIOS_INCLUDE_SPEKTRUM)
cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
#endif
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n], 0);
}
// Check settings, if error raise alarm
if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
continue;
}
// decide if we have valid manual input or not
bool valid_input_detected = TRUE;
if (!validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]))
valid_input_detected = FALSE;
if (!validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]))
valid_input_detected = FALSE;
if (!validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]))
valid_input_detected = FALSE;
if (!validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]))
valid_input_detected = FALSE;
// Implement hysteresis loop on connection status
if (valid_input_detected)
{
if (++connected_count > 10)
{
connection_state = CONNECTED;
connected_count = 0;
disconnected_count = 0;
}
}
else
{
if (++disconnected_count > 10)
{
connection_state = DISCONNECTED;
connected_count = 0;
disconnected_count = 0;
}
}
if (connection_state == DISCONNECTED) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
cmd.Throttle = -1; // Shut down engine with no control
cmd.Roll = 0;
cmd.Yaw = 0;
cmd.Pitch = 0;
//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
// Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this,
// or leave throttle at IDLE speed or above when going into AUTO-failsafe.
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
ManualControlCommandSet(&cmd);
} else {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
// Scale channels to -1 -> +1 range
cmd.Roll = scaledChannel[settings.Roll];
cmd.Pitch = scaledChannel[settings.Pitch];
cmd.Yaw = scaledChannel[settings.Yaw];
cmd.Throttle = scaledChannel[settings.Throttle];
flightMode = scaledChannel[settings.FlightMode];
if (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE)
cmd.Accessory1 = scaledChannel[settings.Accessory1];
else
cmd.Accessory1 = 0;
if (settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE)
cmd.Accessory2 = scaledChannel[settings.Accessory2];
else
cmd.Accessory2 = 0;
if (settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE)
cmd.Accessory3 = scaledChannel[settings.Accessory3];
else
cmd.Accessory3 = 0;
// Note here the code is ass
if (flightMode < -FLIGHT_MODE_LIMIT)
cmd.FlightMode = settings.FlightModePosition[0];
else if (flightMode > FLIGHT_MODE_LIMIT)
cmd.FlightMode = settings.FlightModePosition[2];
else
cmd.FlightMode = settings.FlightModePosition[1];
//
// Arming and Disarming mechanism
//
if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
// In this configuration we always disarm
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
} else {
// In all other cases, we will not change the arm state when disconnected
if (connection_state == CONNECTED)
{
if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) {
// In this configuration, we go into armed state as soon as the throttle is low, never disarm
if (cmd.Throttle < 0) {
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_TRUE;
}
} else {
// When the configuration is not "Always armed" and no "Always disarmed",
// the state will not be changed when the throttle is not low
if (cmd.Throttle < 0) {
static portTickType armedDisarmStart;
float armingInputLevel = 0;
// Calc channel see assumptions7
switch ( (settings.Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) {
case ARMING_CHANNEL_ROLL: armingInputLevel = cmd.Roll; break;
case ARMING_CHANNEL_PITCH: armingInputLevel = cmd.Pitch; break;
case ARMING_CHANNEL_YAW: armingInputLevel = cmd.Yaw; break;
}
bool manualArm = false;
bool manualDisarm = false;
if (connection_state == CONNECTED) {
// Should use RC input only if RX is connected
if (armingInputLevel <= -0.50)
manualArm = true;
else if (armingInputLevel >= +0.50)
manualDisarm = true;
}
// Swap arm-disarming see assumptions8
if ((settings.Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) {
bool temp = manualArm;
manualArm = manualDisarm;
manualDisarm = temp;
}
switch(armState) {
case ARM_STATE_DISARMED:
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
if (manualArm)
{
if (okToArm()) // only allow arming if it's OK too
{
armedDisarmStart = lastSysTime;
armState = ARM_STATE_ARMING_MANUAL;
}
}
break;
case ARM_STATE_ARMING_MANUAL:
if (manualArm) {
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
armState = ARM_STATE_ARMED;
}
else
armState = ARM_STATE_DISARMED;
break;
case ARM_STATE_ARMED:
// When we get here, the throttle is low,
// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_TIMEOUT;
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_TRUE;
break;
case ARM_STATE_DISARMING_TIMEOUT:
// We get here when armed while throttle low, even when the arming timeout is not enabled
if (settings.ArmedTimeout != 0)
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.ArmedTimeout)
armState = ARM_STATE_DISARMED;
// Switch to disarming due to manual control when needed
if (manualDisarm) {
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_MANUAL;
}
break;
case ARM_STATE_DISARMING_MANUAL:
if (manualDisarm) {
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
armState = ARM_STATE_DISARMED;
}
else
armState = ARM_STATE_ARMED;
break;
} // End Switch
} else {
// The throttle is not low, in case we where arming or disarming, abort
switch(armState) {
case ARM_STATE_DISARMING_MANUAL:
case ARM_STATE_DISARMING_TIMEOUT:
armState = ARM_STATE_ARMED;
break;
case ARM_STATE_ARMING_MANUAL:
armState = ARM_STATE_DISARMED;
break;
default:
// Nothing needs to be done in the other states
break;
}
}
}
}
}
//
// End of arming/disarming
//
// Update cmd object
ManualControlCommandSet(&cmd);
}
} else {
ManualControlCommandGet(&cmd); /* Under GCS control */
}
// Depending on the mode update the Stabilization or Actuator objects
switch(PARSE_FLIGHT_MODE(cmd.FlightMode)) {
case FLIGHTMODE_UNDEFINED:
// This reflects a bug in the code architecture!
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
break;
case FLIGHTMODE_MANUAL:
updateActuatorDesired(&cmd);
break;
case FLIGHTMODE_STABILIZED:
updateStabilizationDesired(&cmd, &settings);
break;
case FLIGHTMODE_GUIDANCE:
// TODO: Implement
break;
}
}
}
static void updateActuatorDesired(ManualControlCommandData * cmd)
{
ActuatorDesiredData actuator;
ActuatorDesiredGet(&actuator);
actuator.Roll = cmd->Roll;
actuator.Pitch = cmd->Pitch;
actuator.Yaw = cmd->Yaw;
actuator.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
ActuatorDesiredSet(&actuator);
}
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
{
StabilizationDesiredData stabilization;
StabilizationDesiredGet(&stabilization);
StabilizationSettingsData stabSettings;
StabilizationSettingsGet(&stabSettings);
uint8_t * stab_settings;
switch(cmd->FlightMode) {
case MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED1:
stab_settings = settings->Stabilization1Settings;
break;
case MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED2:
stab_settings = settings->Stabilization2Settings;
break;
case MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED3:
stab_settings = settings->Stabilization3Settings;
break;
default:
// Major error, this should not occur because only enter this block when one of these is true
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
return;
}
// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = stab_settings[0];
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = stab_settings[1];
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = stab_settings[2];
stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
0; // this is an invalid mode
;
stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
0; // this is an invalid mode
stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? fmod(cmd->Yaw * 180.0, 360) :
0; // this is an invalid mode
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
StabilizationDesiredSet(&stabilization);
}
/**
* Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range.
*/
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral, int16_t deadband_percent)
{
float valueScaled;
// Scale
if ((max > min && value >= neutral) || (min > max && value <= neutral))
{
if (max != neutral)
valueScaled = (float)(value - neutral) / (float)(max - neutral);
else
valueScaled = 0;
}
else
{
if (min != neutral)
valueScaled = (float)(value - neutral) / (float)(neutral - min);
else
valueScaled = 0;
}
// Neutral RC stick position dead band
if (deadband_percent > 0)
{
if (deadband_percent > 50) deadband_percent = 50; // limit deadband to a maximum of 50%
float deadband = (float)deadband_percent / 100;
if (fabs(valueScaled) <= deadband)
valueScaled = 0; // deadband the value
else
if (valueScaled < 0)
valueScaled = (valueScaled + deadband) / (1.0 - deadband); // value scales 0.0 to -1.0 after deadband
else
valueScaled = (valueScaled - deadband) / (1.0 - deadband); // value scales 0.0 to +1.0 after deadband
}
// Bound
if (valueScaled > 1.0) valueScaled = 1.0;
else
if (valueScaled < -1.0) valueScaled = -1.0;
return valueScaled;
}
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) {
if(end_time > start_time)
return (end_time - start_time) * portTICK_RATE_MS;
return ((((portTICK_RATE_MS) -1) - start_time) + end_time) * portTICK_RATE_MS;
}
/**
* @brief Determine if the aircraft is safe to arm
* @returns True if safe to arm, false otherwise
*/
static bool okToArm(void)
{
// read alarms
SystemAlarmsData alarms;
SystemAlarmsGet(&alarms);
// Check each alarm
for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++)
{
if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_ERROR)
{ // found an alarm thats set
if (i == SYSTEMALARMS_ALARM_GPS || i == SYSTEMALARMS_ALARM_TELEMETRY)
continue;
return false;
}
}
return true;
}
/**
* @brief Determine if the manual input value is within acceptable limits
* @returns return TRUE if so, otherwise return FALSE
*/
bool validInputRange(int16_t min, int16_t max, uint16_t value)
{
if (min > max)
{
int16_t tmp = min;
min = max;
max = tmp;
}
return (value >= min - CONNECTION_OFFSET && value <= max + CONNECTION_OFFSET);
}
//
//static void armingMechanism(uint8_t* armingState, const ManualControlSettingsData* settings, const ManualControlCommandData* cmd)
//{
// if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
// *armingState = MANUALCONTROLCOMMAND_ARMED_FALSE;
// return;
// }
//
//
//}
/**
* @}
* @}
*/
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