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Improvement: Add support for upto 18 channels. Allow RSSI to be read

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from any channel, not just AUX1-4.

See documentation changes in this commit.
This commit is contained in:
Dominic Clifton 2014-05-14 18:37:21 +01:00
parent 126f94b2c1
commit 21207ca940
17 changed files with 109 additions and 36 deletions
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11
src/mw.c
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@ -103,7 +103,7 @@ void annexCode(void)
for (axis = 0; axis < 3; axis++) {
tmp = min(abs(rcData[axis] - masterConfig.rxConfig.midrc), 500);
if (axis != 2) { // ROLL & PITCH
if (axis == ROLL || axis == PITCH) {
if (currentProfile.deadband) {
if (tmp > currentProfile.deadband) {
tmp -= currentProfile.deadband;
@ -116,7 +116,8 @@ void annexCode(void)
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
prop1 = 100 - (uint16_t)currentProfile.controlRateConfig.rollPitchRate * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
} else { // YAW
}
if (axis == YAW) {
if (currentProfile.yaw_deadband) {
if (tmp > currentProfile.yaw_deadband) {
tmp -= currentProfile.yaw_deadband;
@ -127,6 +128,7 @@ void annexCode(void)
rcCommand[axis] = tmp * -masterConfig.yaw_control_direction;
prop1 = 100 - (uint16_t)currentProfile.controlRateConfig.yawRate * abs(tmp) / 500;
}
// FIXME axis indexes into pids. use something like lookupPidIndex(rc_alias_e alias) to reduce coupling.
dynP8[axis] = (uint16_t)currentProfile.pidProfile.P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)currentProfile.pidProfile.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)currentProfile.pidProfile.D8[axis] * prop1 / 100;
@ -262,9 +264,8 @@ void loop(void)
}
// Read value of AUX channel as rssi
// 0 is disable, 1-4 is AUX{1..4}
if (masterConfig.rssi_aux_channel > 0) {
const int16_t rssiChannelData = rcData[AUX1 + masterConfig.rssi_aux_channel - 1];
if (masterConfig.rxConfig.rssi_channel > 0) {
const int16_t rssiChannelData = rcData[masterConfig.rxConfig.rssi_channel - 1];
// Range of rssiChannelData is [1000;2000]. rssi should be in [0;1023];
rssi = (uint16_t)((constrain(rssiChannelData - 1000, 0, 1000) / 1000.0f) * 1023.0f);
}