2011-03-19 07:20:11 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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2011-02-25 01:33:39 -04:00
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//Function that will read the radio data, limit servos and trigger a failsafe
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// ----------------------------------------------------------------------------
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2011-07-17 07:32:00 -03:00
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static byte failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling
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2011-02-25 01:33:39 -04:00
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2011-10-27 15:34:00 -03:00
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static void default_dead_zones()
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{
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g.rc_1.set_dead_zone(60);
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g.rc_2.set_dead_zone(60);
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2011-11-06 05:37:59 -04:00
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#if FRAME_CONFIG == HELI_FRAME
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2011-11-12 10:23:07 -04:00
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g.rc_3.set_dead_zone(20);
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g.rc_4.set_dead_zone(30);
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2011-11-06 05:37:59 -04:00
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#else
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g.rc_3.set_dead_zone(60);
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g.rc_4.set_dead_zone(200);
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#endif
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2011-10-27 15:34:00 -03:00
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}
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2011-02-25 01:33:39 -04:00
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2011-07-17 07:32:00 -03:00
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static void init_rc_in()
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2010-12-19 12:40:33 -04:00
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{
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2011-02-25 01:33:39 -04:00
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// set rc channel ranges
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2011-02-17 03:09:13 -04:00
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g.rc_1.set_angle(4500);
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g.rc_2.set_angle(4500);
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2011-12-29 02:49:10 -04:00
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g.rc_3.set_range(0, MAXIMUM_THROTTLE);
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2011-10-29 05:27:43 -03:00
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#if FRAME_CONFIG != HELI_FRAME
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2011-02-17 03:09:13 -04:00
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g.rc_3.scale_output = .9;
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2011-10-29 05:27:43 -03:00
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#endif
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2011-04-21 02:15:45 -03:00
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g.rc_4.set_angle(4500);
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2011-02-24 01:56:59 -04:00
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2011-07-12 17:04:15 -03:00
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// reverse: CW = left
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// normal: CW = left???
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2011-05-05 14:47:11 -03:00
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g.rc_1.set_type(RC_CHANNEL_ANGLE_RAW);
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g.rc_2.set_type(RC_CHANNEL_ANGLE_RAW);
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g.rc_4.set_type(RC_CHANNEL_ANGLE_RAW);
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2011-02-25 01:33:39 -04:00
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// set rc dead zones
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2011-09-27 02:12:39 -03:00
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/*g.rc_1.dead_zone = 60;
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2011-07-10 21:47:08 -03:00
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g.rc_2.dead_zone = 60;
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2011-03-28 13:11:08 -03:00
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g.rc_3.dead_zone = 60;
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2011-09-27 02:12:39 -03:00
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g.rc_4.dead_zone = 300;
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*/
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2011-02-25 01:33:39 -04:00
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//set auxiliary ranges
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2011-02-17 03:09:13 -04:00
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g.rc_5.set_range(0,1000);
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g.rc_6.set_range(0,1000);
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g.rc_7.set_range(0,1000);
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g.rc_8.set_range(0,1000);
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2010-12-27 19:09:08 -04:00
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}
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2011-07-17 07:32:00 -03:00
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static void init_rc_out()
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2010-12-27 19:09:08 -04:00
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{
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2011-11-12 23:47:42 -04:00
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APM_RC.Init( &isr_registry ); // APM Radio initialization
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2011-10-12 02:20:23 -03:00
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init_motors_out();
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2010-12-19 12:40:33 -04:00
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2011-07-30 17:42:54 -03:00
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// this is the camera pitch5 and roll6
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2012-01-01 16:27:12 -04:00
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APM_RC.OutputCh(CH_CAM_PITCH, 1500);
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APM_RC.OutputCh(CH_CAM_ROLL, 1500);
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2011-07-30 17:42:54 -03:00
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2011-03-26 18:03:20 -03:00
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for(byte i = 0; i < 5; i++){
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2011-03-06 20:57:06 -04:00
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delay(20);
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read_radio();
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}
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2011-11-22 02:12:19 -04:00
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// sanity check - prevent unconfigured radios from outputting
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2011-03-26 18:03:20 -03:00
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if(g.rc_3.radio_min >= 1300){
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g.rc_3.radio_min = g.rc_3.radio_in;
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}
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2011-11-22 02:12:19 -04:00
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// we are full throttle
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if(g.rc_3.control_in == 800){
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if(g.esc_calibrate == 0){
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// we will enter esc_calibrate mode on next reboot
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g.esc_calibrate.set_and_save(1);
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// send miinimum throttle out to ESC
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output_min();
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// block until we restart
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while(1){
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//Serial.println("esc");
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delay(200);
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dancing_light();
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}
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}else{
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//Serial.println("esc init");
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// clear esc flag
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g.esc_calibrate.set_and_save(0);
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// block until we restart
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init_esc();
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}
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}else{
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// did we abort the calibration?
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if(g.esc_calibrate == 1)
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g.esc_calibrate.set_and_save(0);
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// send miinimum throttle out to ESC
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output_min();
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}
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2011-03-26 18:03:20 -03:00
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}
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2011-03-06 20:57:06 -04:00
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2011-03-26 18:03:20 -03:00
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void output_min()
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{
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2011-06-12 09:14:10 -03:00
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#if FRAME_CONFIG == HELI_FRAME
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heli_move_servos_to_mid();
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#else
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2012-01-01 16:27:12 -04:00
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APM_RC.OutputCh(MOT_1, g.rc_3.radio_min); // Initialization of servo outputs
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APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
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2011-06-12 09:14:10 -03:00
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#endif
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2011-02-21 16:58:10 -04:00
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2012-01-01 16:27:12 -04:00
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APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
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2011-05-23 23:14:18 -03:00
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#if FRAME_CONFIG == OCTA_FRAME
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2012-01-01 16:27:12 -04:00
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APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
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2011-05-23 23:14:18 -03:00
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#endif
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2010-12-19 12:40:33 -04:00
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}
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2011-07-17 07:32:00 -03:00
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static void read_radio()
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2010-12-26 01:25:52 -04:00
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{
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2011-06-16 14:03:26 -03:00
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if (APM_RC.GetState() == 1){
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2011-09-16 03:33:00 -03:00
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new_radio_frame = true;
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2011-06-16 14:03:26 -03:00
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g.rc_1.set_pwm(APM_RC.InputCh(CH_1));
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g.rc_2.set_pwm(APM_RC.InputCh(CH_2));
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g.rc_3.set_pwm(APM_RC.InputCh(CH_3));
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g.rc_4.set_pwm(APM_RC.InputCh(CH_4));
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g.rc_5.set_pwm(APM_RC.InputCh(CH_5));
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g.rc_6.set_pwm(APM_RC.InputCh(CH_6));
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g.rc_7.set_pwm(APM_RC.InputCh(CH_7));
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g.rc_8.set_pwm(APM_RC.InputCh(CH_8));
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#if FRAME_CONFIG != HELI_FRAME
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// limit our input to 800 so we can still pitch and roll
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g.rc_3.control_in = min(g.rc_3.control_in, 800);
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#endif
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2011-11-26 17:18:40 -04:00
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throttle_failsafe(g.rc_3.radio_in);
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2011-06-16 14:03:26 -03:00
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}
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2010-12-19 12:40:33 -04:00
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}
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2011-07-17 07:32:00 -03:00
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static void throttle_failsafe(uint16_t pwm)
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2011-02-24 01:56:59 -04:00
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{
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2012-01-06 14:21:23 -04:00
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// Don't enter Failsafe if not enabled by user
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2011-02-24 01:56:59 -04:00
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if(g.throttle_fs_enabled == 0)
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return;
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//check for failsafe and debounce funky reads
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// ------------------------------------------
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2011-07-17 07:30:21 -03:00
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if (pwm < (unsigned)g.throttle_fs_value){
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2011-02-24 01:56:59 -04:00
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// we detect a failsafe from radio
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// throttle has dropped below the mark
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failsafeCounter++;
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if (failsafeCounter == 9){
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2012-01-09 20:55:51 -04:00
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//
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2011-02-24 01:56:59 -04:00
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}else if(failsafeCounter == 10) {
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2012-01-06 14:21:23 -04:00
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// Don't enter Failsafe if we are not armed
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2012-01-09 20:55:51 -04:00
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// home distance is in meters
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// This is to prevent accidental RTL
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if((motor_armed == true) && (home_distance > 10) && (current_loc.alt > 400)){
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SendDebug("MSG FS ON ");
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SendDebugln(pwm, DEC);
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2012-01-06 14:21:23 -04:00
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set_failsafe(true);
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2012-01-09 20:55:51 -04:00
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}
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2011-02-24 01:56:59 -04:00
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}else if (failsafeCounter > 10){
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failsafeCounter = 11;
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}
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}else if(failsafeCounter > 0){
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// we are no longer in failsafe condition
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// but we need to recover quickly
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failsafeCounter--;
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if (failsafeCounter > 3){
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failsafeCounter = 3;
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}
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if (failsafeCounter == 1){
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SendDebug("MSG FS OFF ");
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SendDebugln(pwm, DEC);
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}else if(failsafeCounter == 0) {
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2011-11-26 17:18:40 -04:00
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set_failsafe(false);
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2011-02-24 01:56:59 -04:00
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}else if (failsafeCounter <0){
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failsafeCounter = -1;
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}
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}
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}
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2011-07-17 07:32:00 -03:00
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static void trim_radio()
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2010-12-19 12:40:33 -04:00
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{
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2010-12-27 21:45:43 -04:00
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for (byte i = 0; i < 30; i++){
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2010-12-26 01:25:52 -04:00
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read_radio();
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}
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2011-02-21 16:58:10 -04:00
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2011-02-17 03:09:13 -04:00
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g.rc_1.trim(); // roll
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g.rc_2.trim(); // pitch
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g.rc_4.trim(); // yaw
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2011-02-21 16:58:10 -04:00
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2011-02-24 01:56:59 -04:00
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g.rc_1.save_eeprom();
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g.rc_2.save_eeprom();
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g.rc_4.save_eeprom();
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2010-12-19 12:40:33 -04:00
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}
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