mirror of https://github.com/ArduPilot/ardupilot
uncrustify ArduCopter/toy.pde
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uncrustify
Pat Hickey
parent
1e2c01d8f6
commit
c7ff6a6335
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@ -5,38 +5,39 @@ static boolean CH7_toy_flag;
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//static boolean CH6_toy_flag;
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#if TOY_MIXER == TOY_LOOKUP_TABLE
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static const int16_t toy_lookup[] = {
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186, 373, 558, 745,
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372, 745, 1117, 1490,
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558, 1118, 1675, 2235,
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743, 1490, 2233, 2980,
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929, 1863, 2792, 3725,
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1115, 2235, 3350, 4470,
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1301, 2608, 3908, 4500,
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1487, 2980, 4467, 4500,
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1673, 3353, 4500, 4500};
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static const int16_t toy_lookup[] = {
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186, 373, 558, 745,
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372, 745, 1117, 1490,
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558, 1118, 1675, 2235,
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743, 1490, 2233, 2980,
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929, 1863, 2792, 3725,
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1115, 2235, 3350, 4470,
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1301, 2608, 3908, 4500,
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1487, 2980, 4467, 4500,
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1673, 3353, 4500, 4500
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};
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#endif
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//called at 10hz
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void update_toy_throttle()
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{
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/*
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// Disabled, now handled by TOY_A (Alt hold) and TOY_M (Manual throttle)
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if (false == CH6_toy_flag && g.rc_6.radio_in >= CH_6_PWM_TRIGGER){
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CH6_toy_flag = true;
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throttle_mode = THROTTLE_MANUAL;
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/*
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* // Disabled, now handled by TOY_A (Alt hold) and TOY_M (Manual throttle)
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* if (false == CH6_toy_flag && g.rc_6.radio_in >= CH_6_PWM_TRIGGER){
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* CH6_toy_flag = true;
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* throttle_mode = THROTTLE_MANUAL;
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*
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* }else if (CH6_toy_flag && g.rc_6.radio_in < CH_6_PWM_TRIGGER){
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* CH6_toy_flag = false;
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* throttle_mode = THROTTLE_AUTO;
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* set_new_altitude(current_loc.alt);
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* saved_toy_throttle = g.rc_3.control_in;
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* }*/
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}else if (CH6_toy_flag && g.rc_6.radio_in < CH_6_PWM_TRIGGER){
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CH6_toy_flag = false;
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throttle_mode = THROTTLE_AUTO;
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set_new_altitude(current_loc.alt);
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saved_toy_throttle = g.rc_3.control_in;
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}*/
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// look for a change in throttle position to exit throttle hold
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if(abs(g.rc_3.control_in - saved_toy_throttle) > 40){
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throttle_mode = THROTTLE_MANUAL;
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}
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// look for a change in throttle position to exit throttle hold
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if(abs(g.rc_3.control_in - saved_toy_throttle) > 40) {
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throttle_mode = THROTTLE_MANUAL;
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}
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}
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#define TOY_ALT_SMALL 25
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@ -45,134 +46,134 @@ void update_toy_throttle()
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//called at 10hz
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void update_toy_altitude()
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{
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int16_t input = g.rc_3.radio_in; // throttle
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//int16_t input = g.rc_7.radio_in;
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int16_t input = g.rc_3.radio_in; // throttle
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//int16_t input = g.rc_7.radio_in;
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// Trigger upward alt change
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if(false == CH7_toy_flag && input > 1666){
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CH7_toy_flag = true;
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// go up
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if(next_WP.alt >= 400){
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force_new_altitude(next_WP.alt + TOY_ALT_LARGE);
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}else{
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force_new_altitude(next_WP.alt + TOY_ALT_SMALL);
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}
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// Trigger upward alt change
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if(false == CH7_toy_flag && input > 1666) {
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CH7_toy_flag = true;
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// go up
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if(next_WP.alt >= 400) {
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force_new_altitude(next_WP.alt + TOY_ALT_LARGE);
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}else{
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force_new_altitude(next_WP.alt + TOY_ALT_SMALL);
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}
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// Trigger downward alt change
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}else if(false == CH7_toy_flag && input < 1333){
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CH7_toy_flag = true;
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// go down
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if(next_WP.alt >= (400 + TOY_ALT_LARGE)){
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force_new_altitude(next_WP.alt - TOY_ALT_LARGE);
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}else if(next_WP.alt >= TOY_ALT_SMALL){
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force_new_altitude(next_WP.alt - TOY_ALT_SMALL);
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}else if(next_WP.alt < TOY_ALT_SMALL){
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force_new_altitude(0);
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}
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// Trigger downward alt change
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}else if(false == CH7_toy_flag && input < 1333) {
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CH7_toy_flag = true;
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// go down
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if(next_WP.alt >= (400 + TOY_ALT_LARGE)) {
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force_new_altitude(next_WP.alt - TOY_ALT_LARGE);
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}else if(next_WP.alt >= TOY_ALT_SMALL) {
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force_new_altitude(next_WP.alt - TOY_ALT_SMALL);
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}else if(next_WP.alt < TOY_ALT_SMALL) {
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force_new_altitude(0);
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}
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// clear flag
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}else if (CH7_toy_flag && ((input < 1666) && (input > 1333))){
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CH7_toy_flag = false;
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}
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// clear flag
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}else if (CH7_toy_flag && ((input < 1666) && (input > 1333))) {
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CH7_toy_flag = false;
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}
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}
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// called at 50 hz from all flight modes
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#if TOY_EDF == ENABLED
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void edf_toy()
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{
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// EDF control:
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g.rc_8.radio_out = 1000 + ((abs(g.rc_2.control_in) << 1) / 9);
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if(g.rc_8.radio_out < 1050)
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g.rc_8.radio_out = 1000;
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// EDF control:
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g.rc_8.radio_out = 1000 + ((abs(g.rc_2.control_in) << 1) / 9);
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if(g.rc_8.radio_out < 1050)
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g.rc_8.radio_out = 1000;
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// output throttle to EDF
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if(motors.armed()){
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APM_RC.OutputCh(CH_8, g.rc_8.radio_out);
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}else{
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APM_RC.OutputCh(CH_8, 1000);
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}
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// output throttle to EDF
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if(motors.armed()) {
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APM_RC.OutputCh(CH_8, g.rc_8.radio_out);
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}else{
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APM_RC.OutputCh(CH_8, 1000);
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}
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// output Servo direction
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if(g.rc_2.control_in > 0){
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APM_RC.OutputCh(CH_6, 1000); // 1000 : 2000
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}else{
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APM_RC.OutputCh(CH_6, 2000); // less than 1450
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}
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// output Servo direction
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if(g.rc_2.control_in > 0) {
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APM_RC.OutputCh(CH_6, 1000); // 1000 : 2000
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}else{
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APM_RC.OutputCh(CH_6, 2000); // less than 1450
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}
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}
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#endif
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// The function call for managing the flight mode Toy
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void roll_pitch_toy()
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{
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#if TOY_MIXER == TOY_LOOKUP_TABLE || TOY_MIXER == TOY_LINEAR_MIXER
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int16_t yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
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#if TOY_MIXER == TOY_LOOKUP_TABLE || TOY_MIXER == TOY_LINEAR_MIXER
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int16_t yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
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if(g.rc_1.control_in != 0){ // roll
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g.rc_4.servo_out = get_acro_yaw(yaw_rate/2);
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yaw_stopped = false;
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yaw_timer = 150;
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if(g.rc_1.control_in != 0) { // roll
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g.rc_4.servo_out = get_acro_yaw(yaw_rate/2);
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yaw_stopped = false;
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yaw_timer = 150;
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}else if (!yaw_stopped){
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g.rc_4.servo_out = get_acro_yaw(0);
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yaw_timer--;
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}else if (!yaw_stopped) {
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g.rc_4.servo_out = get_acro_yaw(0);
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yaw_timer--;
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if((yaw_timer == 0) || (fabs(omega.z) < .17)){
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yaw_stopped = true;
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nav_yaw = ahrs.yaw_sensor;
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}
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}else{
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if(motors.armed() == false || g.rc_3.control_in == 0)
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nav_yaw = ahrs.yaw_sensor;
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if((yaw_timer == 0) || (fabs(omega.z) < .17)) {
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yaw_stopped = true;
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nav_yaw = ahrs.yaw_sensor;
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}
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}else{
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if(motors.armed() == false || g.rc_3.control_in == 0)
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nav_yaw = ahrs.yaw_sensor;
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g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
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}
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#endif
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g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
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}
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#endif
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// roll_rate is the outcome of the linear equation or lookup table
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// based on speed and Yaw rate
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int16_t roll_rate = 0;
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// roll_rate is the outcome of the linear equation or lookup table
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// based on speed and Yaw rate
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int16_t roll_rate = 0;
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#if TOY_MIXER == TOY_LOOKUP_TABLE
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uint8_t xx, yy;
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// Lookup value
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//xx = g_gps->ground_speed / 200;
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xx = abs(g.rc_2.control_in / 1000);
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yy = abs(yaw_rate / 500);
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#if TOY_MIXER == TOY_LOOKUP_TABLE
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uint8_t xx, yy;
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// Lookup value
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//xx = g_gps->ground_speed / 200;
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xx = abs(g.rc_2.control_in / 1000);
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yy = abs(yaw_rate / 500);
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// constrain to lookup Array range
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xx = constrain(xx, 0, 3);
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yy = constrain(yy, 0, 8);
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// constrain to lookup Array range
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xx = constrain(xx, 0, 3);
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yy = constrain(yy, 0, 8);
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roll_rate = toy_lookup[yy * 4 + xx];
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roll_rate = toy_lookup[yy * 4 + xx];
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if(yaw_rate == 0){
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roll_rate = 0;
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}else if(yaw_rate < 0){
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roll_rate = -roll_rate;
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}
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if(yaw_rate == 0) {
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roll_rate = 0;
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}else if(yaw_rate < 0) {
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roll_rate = -roll_rate;
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}
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int16_t roll_limit = 4500 / g.toy_yaw_rate;
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roll_rate = constrain(roll_rate, -roll_limit, roll_limit);
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int16_t roll_limit = 4500 / g.toy_yaw_rate;
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roll_rate = constrain(roll_rate, -roll_limit, roll_limit);
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#elif TOY_MIXER == TOY_LINEAR_MIXER
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roll_rate = -((int32_t)g.rc_2.control_in * (yaw_rate/100)) /30;
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//Serial.printf("roll_rate: %d\n",roll_rate);
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roll_rate = constrain(roll_rate, -2000, 2000);
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#elif TOY_MIXER == TOY_LINEAR_MIXER
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roll_rate = -((int32_t)g.rc_2.control_in * (yaw_rate/100)) /30;
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//Serial.printf("roll_rate: %d\n",roll_rate);
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roll_rate = constrain(roll_rate, -2000, 2000);
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#elif TOY_MIXER == TOY_EXTERNAL_MIXER
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// JKR update to allow external roll/yaw mixing
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roll_rate = g.rc_1.control_in;
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#endif
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#elif TOY_MIXER == TOY_EXTERNAL_MIXER
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// JKR update to allow external roll/yaw mixing
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roll_rate = g.rc_1.control_in;
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#endif
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#if TOY_EDF == ENABLED
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// Output the attitude
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g.rc_1.servo_out = get_stabilize_roll(roll_rate);
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g.rc_2.servo_out = get_stabilize_pitch(g.rc_6.control_in); // use CH6 to trim pitch
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#if TOY_EDF == ENABLED
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// Output the attitude
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g.rc_1.servo_out = get_stabilize_roll(roll_rate);
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g.rc_2.servo_out = get_stabilize_pitch(g.rc_6.control_in); // use CH6 to trim pitch
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#else
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// Output the attitude
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g.rc_1.servo_out = get_stabilize_roll(roll_rate);
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g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in);
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#endif
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#else
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// Output the attitude
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g.rc_1.servo_out = get_stabilize_roll(roll_rate);
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g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in);
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#endif
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}
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