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Code Issues Wiki Activity

Rework Iterm Shrink for AIR Mode

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Rework Iterm Shrink for AIR Mode part 2
This commit is contained in:
borisbstyle 2015-12-09 00:37:42 +01:00
parent 66fb254d62
commit 6a4682908f
4 changed files with 32 additions and 23 deletions
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25
src/main/io/rc_controls.c
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@ -59,13 +59,11 @@
#include "mw.h"
static escAndServoConfig_t *escAndServoConfig;
static pidProfile_t *pidProfile;
// true if arming is done via the sticks (as opposed to a switch)
static bool isUsingSticksToArm = true;
static bool rollPitchCentered = true; // Roll and pitch are centered, AIR Mode condition
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
@ -107,11 +105,6 @@ bool isUsingSticksForArming(void)
return isUsingSticksToArm;
}
bool isRollPitchCentered(void)
{
return rollPitchCentered;
}
bool areSticksInApModePosition(uint16_t ap_mode)
{
return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
@ -127,6 +120,18 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
return THROTTLE_HIGH;
}
rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig)
{
if (feature(FEATURE_3D)) // TODO
return CENTERED;
else if (!feature(FEATURE_3D)
&& ((rcData[PITCH] < (rxConfig->midrc + AIRMODEDEADBAND)) && (rcData[PITCH] > (rxConfig->midrc -AIRMODEDEADBAND)))
&& ((rcData[ROLL] < (rxConfig->midrc + AIRMODEDEADBAND)) && (rcData[ROLL] > (rxConfig->midrc -AIRMODEDEADBAND))))
return CENTERED;
return NOT_CENTERED;
}
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
@ -151,12 +156,6 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
rcDelayCommand = 0;
rcSticks = stTmp;
if (rcSticks == PIT_CE + ROL_CE) {
rollPitchCentered = true;
} else {
rollPitchCentered = false;
}
// perform actions
if (!isUsingSticksToArm) {