src/main/io/rc_controls.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "rx/rx.h"
  21
  22 typedef enum {
  23     BOXARM = 0,
  24     BOXANGLE,
  25     BOXHORIZON,
  26     BOXBARO,
  27     // BOXVARIO,
  28     BOXMAG,
  29     BOXHEADFREE,
  30     BOXHEADADJ,
  31     BOXCAMSTAB,
  32     BOXCAMTRIG,
  33     BOXGPSHOME,
  34     BOXGPSHOLD,
  35     BOXPASSTHRU,
  36     BOXBEEPERON,
  37     BOXLEDMAX,
  38     BOXLEDLOW,
  39     BOXLLIGHTS,
  40     BOXCALIB,
  41     BOXGOV,
  42     BOXOSD,
  43     BOXTELEMETRY,
  44     BOXGTUNE,
  45     BOXSONAR,
  46     BOXSERVO1,
  47     BOXSERVO2,
  48     BOXSERVO3,
  49     BOXBLACKBOX,
  50     BOXFAILSAFE,
  51     BOXAIRMODE,
  52     CHECKBOX_ITEM_COUNT
  53 } boxId_e;
  54
  55 extern uint32_t rcModeActivationMask;
  56
  57 #define IS_RC_MODE_ACTIVE(modeId) ((1 << (modeId)) & rcModeActivationMask)
  58 #define ACTIVATE_RC_MODE(modeId) (rcModeActivationMask |= (1 << modeId))
  59
  60 typedef enum rc_alias {
  61     ROLL = 0,
  62     PITCH,
  63     YAW,
  64     THROTTLE,
  65     AUX1,
  66     AUX2,
  67     AUX3,
  68     AUX4,
  69     AUX5,
  70     AUX6,
  71     AUX7,
  72     AUX8
  73 } rc_alias_e;
  74
  75 typedef enum {
  76     THROTTLE_LOW = 0,
  77     THROTTLE_HIGH
  78 } throttleStatus_e;
  79
  80 #define AIRMODEDEADBAND 10
  81
  82 typedef enum {
  83     NOT_CENTERED = 0,
  84     CENTERED
  85 } rollPitchStatus_e;
  86
  87 #define ROL_LO (1 << (2 * ROLL))
  88 #define ROL_CE (3 << (2 * ROLL))
  89 #define ROL_HI (2 << (2 * ROLL))
  90 #define PIT_LO (1 << (2 * PITCH))
  91 #define PIT_CE (3 << (2 * PITCH))
  92 #define PIT_HI (2 << (2 * PITCH))
  93 #define YAW_LO (1 << (2 * YAW))
  94 #define YAW_CE (3 << (2 * YAW))
  95 #define YAW_HI (2 << (2 * YAW))
  96 #define THR_LO (1 << (2 * THROTTLE))
  97 #define THR_CE (3 << (2 * THROTTLE))
  98 #define THR_HI (2 << (2 * THROTTLE))
  99
 100 #define MAX_MODE_ACTIVATION_CONDITION_COUNT 20
 101
 102 #define CHANNEL_RANGE_MIN 900
 103 #define CHANNEL_RANGE_MAX 2100
 104
 105 #define MODE_STEP_TO_CHANNEL_VALUE(step) (CHANNEL_RANGE_MIN + 25 * step)
 106 #define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain(channelValue, CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / 25)
 107
 108 #define MIN_MODE_RANGE_STEP 0
 109 #define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)
 110
 111 // Roll/pitch rates are a proportion used for mixing, so it tops out at 1.0:
 112 #define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX  100
 113
 114 /* Meaningful yaw rates are effectively unbounded because they are treated as a rotation rate multiplier: */
 115 #define CONTROL_RATE_CONFIG_YAW_RATE_MAX         255
 116
 117 #define CONTROL_RATE_CONFIG_TPA_MAX              100
 118
 119 // steps are 25 apart
 120 // a value of 0 corresponds to a channel value of 900 or less
 121 // a value of 48 corresponds to a channel value of 2100 or more
 122 // 48 steps between 900 and 1200
 123 typedef struct channelRange_s {
 124     uint8_t startStep;
 125     uint8_t endStep;
 126 } channelRange_t;
 127
 128 typedef struct modeActivationCondition_s {
 129     boxId_e modeId;
 130     uint8_t auxChannelIndex;
 131     channelRange_t range;
 132 } modeActivationCondition_t;
 133
 134 #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
 135
 136 typedef struct controlRateConfig_s {
 137     uint8_t rcRate8;
 138     uint8_t rcExpo8;
 139     uint8_t thrMid8;
 140     uint8_t thrExpo8;
 141     uint8_t rates[3];
 142     uint8_t dynThrPID;
 143     uint8_t rcYawExpo8;
 144     uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
 145 } controlRateConfig_t;
 146
 147 extern int16_t rcCommand[4];
 148
 149 typedef struct rcControlsConfig_s {
 150     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
 151     uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
 152     uint8_t alt_hold_deadband;              // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
 153     uint8_t alt_hold_fast_change;           // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_deadband; when enabled, altitude changes slowly proportional to stick movement
 154 } rcControlsConfig_t;
 155
 156 bool areUsingSticksToArm(void);
 157
 158 bool areSticksInApModePosition(uint16_t ap_mode);
 159 throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
 160 void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch);
 161
 162 void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
 163
 164
 165 typedef enum {
 166     ADJUSTMENT_NONE = 0,
 167     ADJUSTMENT_RC_RATE,
 168     ADJUSTMENT_RC_EXPO,
 169     ADJUSTMENT_THROTTLE_EXPO,
 170     ADJUSTMENT_PITCH_ROLL_RATE,
 171     ADJUSTMENT_YAW_RATE,
 172     ADJUSTMENT_PITCH_ROLL_P,
 173     ADJUSTMENT_PITCH_ROLL_I,
 174     ADJUSTMENT_PITCH_ROLL_D,
 175     ADJUSTMENT_YAW_P,
 176     ADJUSTMENT_YAW_I,
 177     ADJUSTMENT_YAW_D,
 178     ADJUSTMENT_RATE_PROFILE,
 179     ADJUSTMENT_PITCH_RATE,
 180     ADJUSTMENT_ROLL_RATE,
 181     ADJUSTMENT_PITCH_P,
 182     ADJUSTMENT_PITCH_I,
 183     ADJUSTMENT_PITCH_D,
 184     ADJUSTMENT_ROLL_P,
 185     ADJUSTMENT_ROLL_I,
 186     ADJUSTMENT_ROLL_D,
 187
 188 } adjustmentFunction_e;
 189
 190 #define ADJUSTMENT_FUNCTION_COUNT 21
 191
 192 typedef enum {
 193     ADJUSTMENT_MODE_STEP,
 194     ADJUSTMENT_MODE_SELECT
 195 } adjustmentMode_e;
 196
 197 typedef struct adjustmentStepConfig_s {
 198     uint8_t step;
 199 } adjustmentStepConfig_t;
 200
 201 typedef struct adjustmentSelectConfig_s {
 202     uint8_t switchPositions;
 203 } adjustmentSelectConfig_t;
 204
 205 typedef union adjustmentConfig_u {
 206     adjustmentStepConfig_t stepConfig;
 207     adjustmentSelectConfig_t selectConfig;
 208 } adjustmentData_t;
 209
 210 typedef struct adjustmentConfig_s {
 211     uint8_t adjustmentFunction;
 212     uint8_t mode;
 213     adjustmentData_t data;
 214 } adjustmentConfig_t;
 215
 216 typedef struct adjustmentRange_s {
 217     // when aux channel is in range...
 218     uint8_t auxChannelIndex;
 219     channelRange_t range;
 220
 221     // ..then apply the adjustment function to the auxSwitchChannel ...
 222     uint8_t adjustmentFunction;
 223     uint8_t auxSwitchChannelIndex;
 224
 225     // ... via slot
 226     uint8_t adjustmentIndex;
 227 } adjustmentRange_t;
 228
 229 #define ADJUSTMENT_INDEX_OFFSET 1
 230
 231 typedef struct adjustmentState_s {
 232     uint8_t auxChannelIndex;
 233     const adjustmentConfig_t *config;
 234     uint32_t timeoutAt;
 235 } adjustmentState_t;
 236
 237
 238 #ifndef MAX_SIMULTANEOUS_ADJUSTMENT_COUNT
 239 #define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel
 240 #endif
 241
 242 #define MAX_ADJUSTMENT_RANGE_COUNT 12 // enough for 2 * 6pos switches.
 243
 244 void resetAdjustmentStates(void);
 245 void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);
 246 void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
 247 void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);
 248
 249 bool isUsingSticksForArming(void);
 250
 251 int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
 252 bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationConditions, boxId_e modeId);
 253 rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig);