mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 00:05:33 +03:00
333 lines
9.7 KiB
C
333 lines
9.7 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight 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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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include <math.h>
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#include "platform.h"
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#include "blackbox/blackbox.h"
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#include "build/build_config.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "config/feature.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "drivers/camera_control.h"
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#include "fc/config.h"
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#include "fc/fc_core.h"
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#include "fc/rc_controls.h"
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#include "fc/fc_rc.h"
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#include "fc/runtime_config.h"
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#include "io/gps.h"
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#include "io/beeper.h"
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#include "io/motors.h"
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#include "io/vtx_control.h"
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#include "io/dashboard.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#include "sensors/sensors.h"
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#include "sensors/gyro.h"
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#include "sensors/acceleration.h"
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#include "rx/rx.h"
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#include "flight/pid.h"
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#include "flight/navigation.h"
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#include "flight/failsafe.h"
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static pidProfile_t *pidProfile;
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// true if arming is done via the sticks (as opposed to a switch)
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static bool isUsingSticksToArm = true;
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float rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
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PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
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PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
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.deadband = 0,
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.yaw_deadband = 0,
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.alt_hold_deadband = 40,
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.alt_hold_fast_change = 1,
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.yaw_control_reversed = false,
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);
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PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 0);
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PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
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.gyro_cal_on_first_arm = 0, // TODO - Cleanup retarded arm support
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.disarm_kill_switch = 1,
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.auto_disarm_delay = 5
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);
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PG_REGISTER_WITH_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
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PG_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig,
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.deadband3d_low = 1406,
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.deadband3d_high = 1514,
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.neutral3d = 1460,
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.deadband3d_throttle = 50
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);
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bool isUsingSticksForArming(void)
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{
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return isUsingSticksToArm;
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}
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bool areSticksInApModePosition(uint16_t ap_mode)
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{
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return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
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}
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throttleStatus_e calculateThrottleStatus(void)
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{
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if (feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLE)) {
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if ((rcData[THROTTLE] > (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle) && rcData[THROTTLE] < (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)))
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return THROTTLE_LOW;
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} else {
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if (rcData[THROTTLE] < rxConfig()->mincheck)
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return THROTTLE_LOW;
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}
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return THROTTLE_HIGH;
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}
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void processRcStickPositions(throttleStatus_e throttleStatus)
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{
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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
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static uint8_t rcSticks; // this hold sticks position for command combos
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static uint8_t rcDisarmTicks; // this is an extra guard for disarming through switch to prevent that one frame can disarm it
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uint8_t stTmp = 0;
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int i;
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// ------------------ STICKS COMMAND HANDLER --------------------
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// checking sticks positions
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for (i = 0; i < 4; i++) {
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stTmp >>= 2;
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if (rcData[i] > rxConfig()->mincheck)
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stTmp |= 0x80; // check for MIN
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if (rcData[i] < rxConfig()->maxcheck)
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stTmp |= 0x40; // check for MAX
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}
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if (stTmp == rcSticks) {
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if (rcDelayCommand < 250)
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rcDelayCommand++;
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} else
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rcDelayCommand = 0;
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rcSticks = stTmp;
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// perform actions
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if (!isUsingSticksToArm) {
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if (IS_RC_MODE_ACTIVE(BOXARM)) {
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rcDisarmTicks = 0;
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// Arming via ARM BOX
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tryArm();
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} else {
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// Disarming via ARM BOX
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resetArmingDisabled();
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if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive() ) {
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rcDisarmTicks++;
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if (rcDisarmTicks > 3) {
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if (armingConfig()->disarm_kill_switch) {
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disarm();
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} else if (throttleStatus == THROTTLE_LOW) {
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disarm();
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}
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}
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}
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}
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}
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if (rcDelayCommand != 20) {
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return;
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}
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if (isUsingSticksToArm) {
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// Disarm on throttle down + yaw
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if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) {
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if (ARMING_FLAG(ARMED))
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disarm();
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else {
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beeper(BEEPER_DISARM_REPEAT); // sound tone while stick held
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rcDelayCommand = 0; // reset so disarm tone will repeat
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}
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}
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}
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if (ARMING_FLAG(ARMED)) {
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// actions during armed
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return;
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}
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// actions during not armed
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i = 0;
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if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
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// GYRO calibration
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gyroStartCalibration(false);
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#ifdef GPS
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if (feature(FEATURE_GPS)) {
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GPS_reset_home_position();
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}
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#endif
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#ifdef BARO
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if (sensors(SENSOR_BARO))
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baroSetCalibrationCycles(10); // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
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#endif
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return;
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}
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if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
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// Inflight ACC Calibration
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handleInflightCalibrationStickPosition();
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return;
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}
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// Multiple configuration profiles
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if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) // ROLL left -> Profile 1
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i = 1;
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else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) // PITCH up -> Profile 2
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i = 2;
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else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) // ROLL right -> Profile 3
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i = 3;
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if (i) {
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changePidProfile(i - 1);
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return;
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}
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if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_HI) {
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saveConfigAndNotify();
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}
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if (isUsingSticksToArm) {
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if (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
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// Arm via YAW
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tryArm();
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return;
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} else {
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resetArmingDisabled();
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}
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}
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if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
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// Calibrating Acc
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accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
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return;
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}
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if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) {
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// Calibrating Mag
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ENABLE_STATE(CALIBRATE_MAG);
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return;
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}
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// Accelerometer Trim
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rollAndPitchTrims_t accelerometerTrimsDelta;
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memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta));
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bool shouldApplyRollAndPitchTrimDelta = false;
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if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
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accelerometerTrimsDelta.values.pitch = 2;
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shouldApplyRollAndPitchTrimDelta = true;
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} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
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accelerometerTrimsDelta.values.pitch = -2;
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shouldApplyRollAndPitchTrimDelta = true;
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} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
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accelerometerTrimsDelta.values.roll = 2;
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shouldApplyRollAndPitchTrimDelta = true;
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} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
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accelerometerTrimsDelta.values.roll = -2;
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shouldApplyRollAndPitchTrimDelta = true;
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}
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if (shouldApplyRollAndPitchTrimDelta) {
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applyAndSaveAccelerometerTrimsDelta(&accelerometerTrimsDelta);
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rcDelayCommand = 0; // allow autorepetition
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return;
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}
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#ifdef USE_DASHBOARD
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if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_LO) {
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dashboardDisablePageCycling();
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}
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if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
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dashboardEnablePageCycling();
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}
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#endif
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#ifdef VTX_CONTROL
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if (rcSticks == THR_HI + YAW_LO + PIT_CE + ROL_HI) {
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vtxIncrementBand();
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}
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if (rcSticks == THR_HI + YAW_LO + PIT_CE + ROL_LO) {
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vtxDecrementBand();
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}
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if (rcSticks == THR_HI + YAW_HI + PIT_CE + ROL_HI) {
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vtxIncrementChannel();
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}
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if (rcSticks == THR_HI + YAW_HI + PIT_CE + ROL_LO) {
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vtxDecrementChannel();
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}
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#endif
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#ifdef USE_CAMERA_CONTROL
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if (rcSticks == THR_LO + YAW_CE + PIT_LO + ROL_CE) {
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cameraControlKeyPress(CAMERA_CONTROL_KEY_ENTER, 0);
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} else if (rcSticks == THR_CE + YAW_CE + PIT_CE + ROL_LO) {
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cameraControlKeyPress(CAMERA_CONTROL_KEY_LEFT, 0);
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} else if (rcSticks == THR_CE + YAW_CE + PIT_HI + ROL_CE) {
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cameraControlKeyPress(CAMERA_CONTROL_KEY_UP, 0);
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} else if (rcSticks == THR_CE + YAW_CE + PIT_CE + ROL_HI) {
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cameraControlKeyPress(CAMERA_CONTROL_KEY_RIGHT, 0);
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} else if (rcSticks == THR_CE + YAW_CE + PIT_LO + ROL_CE) {
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cameraControlKeyPress(CAMERA_CONTROL_KEY_DOWN, 0);
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} else if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_CE) {
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cameraControlKeyPress(CAMERA_CONTROL_KEY_UP, 2000);
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}
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#endif
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}
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int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
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return MIN(ABS(rcData[axis] - midrc), 500);
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}
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void useRcControlsConfig(pidProfile_t *pidProfileToUse)
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{
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pidProfile = pidProfileToUse;
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isUsingSticksToArm = !isModeActivationConditionPresent(BOXARM);
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}
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