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First cut of allowing a 3POS switch on AUX3 to change rc rate.

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rcRate is decreased when low, increased when HIGH and no change when the
switch is in the middle.

The rcRate ticks up/down at 0.01 every 500ms if the switch is left on.

If using a momentary switch and if you can toggle the switch between
middle and low or middle and high more frequently than 500ms then the
rate will be increased accordingly.  Similar to how a keyboard repeat
behaves.
This commit is contained in:
Dominic Clifton 2014-10-22 22:53:22 +01:00
parent fd32ad6fcb
commit 6d7035819f
7 changed files with 324 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

90
src/main/io/rc_controls.c
View file

@ -27,6 +27,8 @@
#include "config/config.h"
#include "config/runtime_config.h"
#include "drivers/system.h"
#include "flight/flight.h"
#include "drivers/accgyro.h"
@ -39,7 +41,9 @@
#include "mw.h"
#include "rx/rx.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "io/rc_curves.h"
static bool isUsingSticksToArm = true;
@ -246,6 +250,92 @@ void updateActivatedModes(modeActivationCondition_t *modeActivationConditions)
}
}
uint32_t adjustmentFunctionStateMask = 0;
#define MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentFunction) adjustmentFunctionStateMask |= (1 << (adjustmentFunction - ADJUSTMENT_INDEX_OFFSET))
#define MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentFunction) adjustmentFunctionStateMask &= ~(1 << (adjustmentFunction - ADJUSTMENT_INDEX_OFFSET))
#define IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentFunction) (adjustmentFunctionStateMask & (1 << (adjustmentFunction - ADJUSTMENT_INDEX_OFFSET)))
typedef struct adjustmentConfig_s {
uint8_t auxChannelIndex;
uint8_t adjustmentFunction;
uint8_t step;
} adjustmentConfig_t;
static adjustmentConfig_t adjustmentConfigs[1] = {
{
.auxChannelIndex = AUX3 - NON_AUX_CHANNEL_COUNT,
.adjustmentFunction = ADJUSTMENT_RC_RATE,
.step = 1
}
};
void applyAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int step) {
int newValue;
switch(adjustmentFunction) {
case ADJUSTMENT_RC_RATE:
newValue = (int)controlRateConfig->rcRate8 + step;
controlRateConfig->rcRate8 = constrain(newValue, 0, 250); // FIXME magic numbers repeated in serial_cli.c
generatePitchRollCurve(controlRateConfig);
break;
default:
break;
};
}
#define RESET_FREQUENCY_2HZ (1000 / 2)
void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig)
{
uint8_t adjustmentIndex;
static uint32_t timeoutAt = 0;
uint32_t now = millis();
int32_t signedDiff = now - timeoutAt;
bool canResetReadyStates = signedDiff >= 0L;
if (canResetReadyStates) {
timeoutAt = now + RESET_FREQUENCY_2HZ;
}
for (adjustmentIndex = 0; adjustmentIndex < ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentConfig_t * adjustmentConfig = &adjustmentConfigs[adjustmentIndex];
uint8_t adjustmentFunction = adjustmentConfig->adjustmentFunction;
if (adjustmentFunction == ADJUSTMENT_NONE) {
continue;
}
if (canResetReadyStates) {
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentFunction);
}
uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentConfig->auxChannelIndex;
int step;
if (rcData[channelIndex] > rxConfig->maxcheck) {
step = adjustmentConfig->step;
} else if (rcData[channelIndex] < rxConfig->mincheck) {
step = 0 - adjustmentConfig->step;
} else {
// returning the switch to the middle immediately resets the ready state
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentFunction);
timeoutAt = now + RESET_FREQUENCY_2HZ;
continue;
}
if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentFunction)) {
continue;
}
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentFunction);
applyAdjustment(controlRateConfig, adjustmentFunction, step);
}
}
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions)
{
uint8_t index;