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 typedef enum {
  21     BOXARM = 0,
  22     BOXANGLE,
  23     BOXHORIZON,
  24     BOXBARO,
  25     // BOXVARIO,
  26     BOXMAG,
  27     BOXHEADFREE,
  28     BOXHEADADJ,
  29     BOXCAMSTAB,
  30     BOXCAMTRIG,
  31     BOXGPSHOME,
  32     BOXGPSHOLD,
  33     BOXPASSTHRU,
  34     BOXBEEPERON,
  35     BOXLEDMAX,
  36     BOXLEDLOW,
  37     BOXLLIGHTS,
  38     BOXCALIB,
  39     BOXGOV,
  40     BOXOSD,
  41     BOXTELEMETRY,
  42     BOXAUTOTUNE,
  43     BOXSONAR,
  44     CHECKBOX_ITEM_COUNT
  45 } boxId_e;
  46
  47 extern uint32_t rcModeActivationMask;
  48
  49 #define IS_RC_MODE_ACTIVE(modeId) ((1 << modeId) & rcModeActivationMask)
  50 #define ACTIVATE_RC_MODE(modeId) (rcModeActivationMask |= (1 << modeId))
  51
  52 typedef enum rc_alias {
  53     ROLL = 0,
  54     PITCH,
  55     YAW,
  56     THROTTLE,
  57     AUX1,
  58     AUX2,
  59     AUX3,
  60     AUX4,
  61     AUX5,
  62     AUX6,
  63     AUX7,
  64     AUX8
  65 } rc_alias_e;
  66
  67 typedef enum {
  68     THROTTLE_LOW = 0,
  69     THROTTLE_HIGH
  70 } throttleStatus_e;
  71
  72 #define ROL_LO (1 << (2 * ROLL))
  73 #define ROL_CE (3 << (2 * ROLL))
  74 #define ROL_HI (2 << (2 * ROLL))
  75 #define PIT_LO (1 << (2 * PITCH))
  76 #define PIT_CE (3 << (2 * PITCH))
  77 #define PIT_HI (2 << (2 * PITCH))
  78 #define YAW_LO (1 << (2 * YAW))
  79 #define YAW_CE (3 << (2 * YAW))
  80 #define YAW_HI (2 << (2 * YAW))
  81 #define THR_LO (1 << (2 * THROTTLE))
  82 #define THR_CE (3 << (2 * THROTTLE))
  83 #define THR_HI (2 << (2 * THROTTLE))
  84
  85 #define MAX_MODE_ACTIVATION_CONDITION_COUNT 40
  86 // 40 is enough for 1 mode for each position of 11 * 3 position switches and a 6 pos switch.
  87 // however, that is unlikely because you don't define the 'off' positions, so for a 3 position
  88 // switch it's normal that only 2 values would be configured.
  89 // this leaves plenty of 'slots' free for cases where you enable multiple modes for a switch
  90 // position (like gps rth + horizon + baro + beeper)
  91
  92 #define CHANNEL_RANGE_MIN 900
  93 #define CHANNEL_RANGE_MAX 2100
  94
  95 #define MODE_STEP_TO_CHANNEL_VALUE(step) (CHANNEL_RANGE_MIN + 25 * step)
  96 #define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain(channelValue, CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / 25)
  97
  98 #define MIN_MODE_RANGE_STEP 0
  99 #define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)
 100
 101 // steps are 25 apart
 102 // a value of 0 corresponds to a channel value of 900 or less
 103 // a value of 48 corresponds to a channel value of 2100 or more
 104 // 48 steps between 900 and 1200
 105 typedef struct channelRange_s {
 106     uint8_t startStep;
 107     uint8_t endStep;
 108 } channelRange_t;
 109
 110 typedef struct modeActivationCondition_s {
 111     boxId_e modeId;
 112     uint8_t auxChannelIndex;
 113     channelRange_t range;
 114 } modeActivationCondition_t;
 115
 116 #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
 117
 118 typedef struct controlRateConfig_s {
 119     uint8_t rcRate8;
 120     uint8_t rcExpo8;
 121     uint8_t thrMid8;
 122     uint8_t thrExpo8;
 123     uint8_t rollPitchRate;
 124     uint8_t yawRate;
 125     uint8_t dynThrPID;
 126     uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
 127 } controlRateConfig_t;
 128
 129 extern int16_t rcCommand[4];
 130
 131 typedef struct rcControlsConfig_s {
 132     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
 133     uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
 134     uint8_t alt_hold_deadband;              // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
 135     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
 136 } rcControlsConfig_t;
 137
 138 bool areSticksInApModePosition(uint16_t ap_mode);
 139 throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
 140 void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch);
 141
 142 void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
 143
 144
 145 typedef enum {
 146     ADJUSTMENT_NONE = 0,
 147     ADJUSTMENT_RC_RATE,
 148     ADJUSTMENT_RC_EXPO,
 149     ADJUSTMENT_THROTTLE_EXPO,
 150     ADJUSTMENT_PITCH_ROLL_RATE,
 151     ADJUSTMENT_YAW_RATE,
 152     ADJUSTMENT_PITCH_ROLL_P,
 153     ADJUSTMENT_PITCH_ROLL_I,
 154     ADJUSTMENT_PITCH_ROLL_D,
 155     ADJUSTMENT_YAW_P,
 156     ADJUSTMENT_YAW_I,
 157     ADJUSTMENT_YAW_D,
 158     ADJUSTMENT_RATE_PROFILE
 159 } adjustmentFunction_e;
 160
 161 #define ADJUSTMENT_FUNCTION_COUNT 13
 162
 163 typedef enum {
 164     ADJUSTMENT_MODE_STEP,
 165     ADJUSTMENT_MODE_SELECT
 166 } adjustmentMode_e;
 167
 168 typedef struct adjustmentStepConfig_s {
 169     uint8_t step;
 170 } adjustmentStepConfig_t;
 171
 172 typedef struct adjustmentSelectConfig_s {
 173     uint8_t switchPositions;
 174 } adjustmentSelectConfig_t;
 175
 176 typedef union adjustmentConfig_u {
 177     adjustmentStepConfig_t stepConfig;
 178     adjustmentSelectConfig_t selectConfig;
 179 } adjustmentData_t;
 180
 181 typedef struct adjustmentConfig_s {
 182     uint8_t adjustmentFunction;
 183     uint8_t mode;
 184     adjustmentData_t data;
 185 } adjustmentConfig_t;
 186
 187 typedef struct adjustmentRange_s {
 188     // when aux channel is in range...
 189     uint8_t auxChannelIndex;
 190     channelRange_t range;
 191
 192     // ..then apply the adjustment function to the auxSwitchChannel ...
 193     uint8_t adjustmentFunction;
 194     uint8_t auxSwitchChannelIndex;
 195
 196     // ... via slot
 197     uint8_t adjustmentIndex;
 198 } adjustmentRange_t;
 199
 200 #define ADJUSTMENT_INDEX_OFFSET 1
 201
 202 typedef struct adjustmentState_s {
 203     uint8_t auxChannelIndex;
 204     const adjustmentConfig_t *config;
 205     uint32_t timeoutAt;
 206 } adjustmentState_t;
 207
 208 #define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel
 209
 210 #define MAX_ADJUSTMENT_RANGE_COUNT 12 // enough for 2 * 6pos switches.
 211
 212 void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);
 213 void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
 214 void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);
 215
 216 bool isUsingSticksForArming(void);
 217
 218 int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);