src/main/fc/rc_controls.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include <stdbool.h>
  24
  25 #include "common/filter.h"
  26 #include "pg/pg.h"
  27
  28 typedef enum rc_alias {
  29     ROLL = 0,
  30     PITCH,
  31     YAW,
  32     THROTTLE,
  33     AUX1,
  34     AUX2,
  35     AUX3,
  36     AUX4,
  37     AUX5,
  38     AUX6,
  39     AUX7,
  40     AUX8,
  41     AUX9,
  42     AUX10,
  43     AUX11,
  44     AUX12
  45 } rc_alias_e;
  46
  47 #define PRIMARY_CHANNEL_COUNT (THROTTLE + 1)
  48
  49 typedef enum {
  50     THROTTLE_LOW = 0,
  51     THROTTLE_HIGH
  52 } throttleStatus_e;
  53
  54 #define AIRMODEDEADBAND 12
  55
  56 typedef enum {
  57     NOT_CENTERED = 0,
  58     CENTERED
  59 } rollPitchStatus_e;
  60
  61 #define ROL_LO (1 << (2 * ROLL))
  62 #define ROL_CE (3 << (2 * ROLL))
  63 #define ROL_HI (2 << (2 * ROLL))
  64 #define PIT_LO (1 << (2 * PITCH))
  65 #define PIT_CE (3 << (2 * PITCH))
  66 #define PIT_HI (2 << (2 * PITCH))
  67 #define YAW_LO (1 << (2 * YAW))
  68 #define YAW_CE (3 << (2 * YAW))
  69 #define YAW_HI (2 << (2 * YAW))
  70 #define THR_LO (1 << (2 * THROTTLE))
  71 #define THR_CE (3 << (2 * THROTTLE))
  72 #define THR_HI (2 << (2 * THROTTLE))
  73 #define THR_MASK (3 << (2 * THROTTLE))
  74
  75 #define CONTROL_RATE_CONFIG_RC_EXPO_MAX  100
  76
  77 #define CONTROL_RATE_CONFIG_RC_RATES_MAX  255
  78
  79 #define CONTROL_RATE_CONFIG_RATE_LIMIT_MIN  200
  80 #define CONTROL_RATE_CONFIG_RATE_LIMIT_MAX  1998
  81
  82 // (Super) rates are constrained to [0, 100] for Betaflight rates, so values higher than 100 won't make a difference. Range extended for RaceFlight rates.
  83 #define CONTROL_RATE_CONFIG_RATE_MAX  255
  84
  85 extern float rcCommand[4];
  86
  87 typedef struct rcSmoothingFilter_s {
  88     bool filterInitialized;
  89     pt3Filter_t filterSetpoint[4];
  90     pt3Filter_t filterRcDeflection[2];
  91     pt3Filter_t filterFeedforward[3];
  92
  93     uint8_t setpointCutoffSetting;
  94     uint8_t throttleCutoffSetting;
  95     uint8_t feedforwardCutoffSetting;
  96
  97     uint16_t setpointCutoffFrequency;
  98     uint16_t throttleCutoffFrequency;
  99     uint16_t feedforwardCutoffFrequency;
 100
 101     float smoothedRxRateHz;
 102     uint8_t sampleCount;
 103     uint8_t debugAxis;
 104
 105     float autoSmoothnessFactorSetpoint;
 106     float autoSmoothnessFactorFeedforward;
 107     float autoSmoothnessFactorThrottle;
 108 } rcSmoothingFilter_t;
 109
 110 typedef struct rcControlsConfig_s {
 111     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
 112     uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
 113     uint8_t alt_hold_deadband;              // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
 114     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
 115     bool yaw_control_reversed;            // invert control direction of yaw
 116 } rcControlsConfig_t;
 117
 118 PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
 119
 120 typedef struct flight3DConfig_s {
 121     uint16_t deadband3d_low;                // min 3d value
 122     uint16_t deadband3d_high;               // max 3d value
 123     uint16_t neutral3d;                     // center 3d value
 124     uint16_t deadband3d_throttle;           // default throttle deadband from MIDRC
 125     uint16_t limit3d_low;                   // pwm output value for max negative thrust
 126     uint16_t limit3d_high;                  // pwm output value for max positive thrust
 127     uint8_t switched_mode3d;                // enable '3D Switched Mode'
 128 } flight3DConfig_t;
 129
 130 PG_DECLARE(flight3DConfig_t, flight3DConfig);
 131
 132 typedef struct armingConfig_s {
 133     uint8_t gyro_cal_on_first_arm;          // calibrate the gyro right before the first arm
 134     uint8_t auto_disarm_delay;              // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
 135 } armingConfig_t;
 136
 137 PG_DECLARE(armingConfig_t, armingConfig);
 138
 139 bool areUsingSticksToArm(void);
 140
 141 throttleStatus_e calculateThrottleStatus(void);
 142 void processRcStickPositions();
 143
 144 bool isUsingSticksForArming(void);
 145
 146 void rcControlsInit(void);