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72 lines
1.9 KiB
C
72 lines
1.9 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup ManualControl
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* @brief Interpretes the control input in ManualControlCommand
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* @{
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*
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* @file manualhandler.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "inc/manualcontrol.h"
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#include <manualcontrolcommand.h>
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#include <actuatordesired.h>
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// Private constants
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// Private types
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// Private functions
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/**
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* @brief Handler to control Manual flightmode - input directly steers actuators
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* @input: ManualControlCommand
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* @output: ActuatorDesired
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*/
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void manualHandler(bool newinit)
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{
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if (newinit) {
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ActuatorDesiredInitialize();
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}
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ManualControlCommandData cmd;
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ManualControlCommandGet(&cmd);
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ActuatorDesiredData actuator;
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ActuatorDesiredGet(&actuator);
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actuator.Roll = cmd.Roll;
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actuator.Pitch = cmd.Pitch;
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actuator.Yaw = cmd.Yaw;
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actuator.Thrust = cmd.Thrust;
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ActuatorDesiredSet(&actuator);
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}
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/**
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* @}
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* @}
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*/
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