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 } rc_alias_e;
  42
  43 #define PRIMARY_CHANNEL_COUNT (THROTTLE + 1)
  44
  45 typedef enum {
  46     THROTTLE_LOW = 0,
  47     THROTTLE_HIGH
  48 } throttleStatus_e;
  49
  50 #define AIRMODEDEADBAND 12
  51
  52 typedef enum {
  53     NOT_CENTERED = 0,
  54     CENTERED
  55 } rollPitchStatus_e;
  56
  57 typedef enum {
  58     RC_SMOOTHING_OFF = 0,
  59     RC_SMOOTHING_DEFAULT,
  60     RC_SMOOTHING_AUTO,
  61     RC_SMOOTHING_MANUAL
  62 } rcSmoothing_t;
  63
  64 typedef enum {
  65     RC_SMOOTHING_TYPE_INTERPOLATION,
  66     RC_SMOOTHING_TYPE_FILTER
  67 } rcSmoothingType_e;
  68
  69 typedef enum {
  70     RC_SMOOTHING_INPUT_PT1,
  71     RC_SMOOTHING_INPUT_BIQUAD
  72 } rcSmoothingInputFilter_e;
  73
  74 typedef enum {
  75     RC_SMOOTHING_DERIVATIVE_OFF,
  76     RC_SMOOTHING_DERIVATIVE_PT1,
  77     RC_SMOOTHING_DERIVATIVE_BIQUAD
  78 } rcSmoothingDerivativeFilter_e;
  79
  80 typedef enum {
  81     RC_SMOOTHING_VALUE_INPUT_ACTIVE,
  82     RC_SMOOTHING_VALUE_DERIVATIVE_ACTIVE,
  83     RC_SMOOTHING_VALUE_AVERAGE_FRAME
  84 } rcSmoothingInfoType_e;
  85
  86 #define ROL_LO (1 << (2 * ROLL))
  87 #define ROL_CE (3 << (2 * ROLL))
  88 #define ROL_HI (2 << (2 * ROLL))
  89 #define PIT_LO (1 << (2 * PITCH))
  90 #define PIT_CE (3 << (2 * PITCH))
  91 #define PIT_HI (2 << (2 * PITCH))
  92 #define YAW_LO (1 << (2 * YAW))
  93 #define YAW_CE (3 << (2 * YAW))
  94 #define YAW_HI (2 << (2 * YAW))
  95 #define THR_LO (1 << (2 * THROTTLE))
  96 #define THR_CE (3 << (2 * THROTTLE))
  97 #define THR_HI (2 << (2 * THROTTLE))
  98
  99 #define CONTROL_RATE_CONFIG_RC_EXPO_MAX  100
 100
 101 #define CONTROL_RATE_CONFIG_RC_RATES_MAX  255
 102
 103 // (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.
 104 #define CONTROL_RATE_CONFIG_RATE_MAX  255
 105
 106 #define CONTROL_RATE_CONFIG_TPA_MAX              100
 107
 108 extern float rcCommand[4];
 109
 110 typedef struct rcSmoothingFilterTraining_s {
 111     float sum;
 112     int count;
 113     uint16_t min;
 114     uint16_t max;
 115 } rcSmoothingFilterTraining_t;
 116
 117 typedef struct rcSmoothingFilter_s {
 118     bool filterInitialized;
 119     biquadFilter_t filterBiquad[4];
 120     pt1Filter_t filterPt1[4];
 121     uint16_t inputCutoffFrequency;
 122     uint16_t derivativeCutoffFrequency;
 123     int averageFrameTimeUs;
 124     rcSmoothingFilterTraining_t training;
 125 } rcSmoothingFilter_t;
 126
 127 typedef struct rcControlsConfig_s {
 128     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
 129     uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
 130     uint8_t alt_hold_deadband;              // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
 131     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
 132     bool yaw_control_reversed;            // invert control direction of yaw
 133 } rcControlsConfig_t;
 134
 135 PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
 136
 137 typedef struct flight3DConfig_s {
 138     uint16_t deadband3d_low;                // min 3d value
 139     uint16_t deadband3d_high;               // max 3d value
 140     uint16_t neutral3d;                     // center 3d value
 141     uint16_t deadband3d_throttle;           // default throttle deadband from MIDRC
 142     uint16_t limit3d_low;                   // pwm output value for max negative thrust
 143     uint16_t limit3d_high;                  // pwm output value for max positive thrust
 144     uint8_t switched_mode3d;                // enable '3D Switched Mode'
 145 } flight3DConfig_t;
 146
 147 PG_DECLARE(flight3DConfig_t, flight3DConfig);
 148
 149 typedef struct armingConfig_s {
 150     uint8_t gyro_cal_on_first_arm;          // allow disarm/arm on throttle down + roll left/right
 151     uint8_t auto_disarm_delay;              // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
 152 } armingConfig_t;
 153
 154 PG_DECLARE(armingConfig_t, armingConfig);
 155
 156 bool areUsingSticksToArm(void);
 157
 158 bool areSticksInApModePosition(uint16_t ap_mode);
 159 throttleStatus_e calculateThrottleStatus(void);
 160 void processRcStickPositions();
 161
 162 bool isUsingSticksForArming(void);
 163
 164 int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
 165 struct pidProfile_s;
 166 struct modeActivationCondition_s;
 167 void useRcControlsConfig(struct pidProfile_s *pidProfileToUse);