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
  74 #define CONTROL_RATE_CONFIG_RC_EXPO_MAX  100
  75
  76 #define CONTROL_RATE_CONFIG_RC_RATES_MAX  255
  77
  78 #define CONTROL_RATE_CONFIG_RATE_LIMIT_MIN  200
  79 #define CONTROL_RATE_CONFIG_RATE_LIMIT_MAX  1998
  80
  81 // (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.
  82 #define CONTROL_RATE_CONFIG_RATE_MAX  255
  83
  84 #define CONTROL_RATE_CONFIG_TPA_MAX              100
  85
  86 extern float rcCommand[4];
  87
  88 typedef struct rcSmoothingFilterTraining_s {
  89     float sum;
  90     int count;
  91     uint16_t min;
  92     uint16_t max;
  93 } rcSmoothingFilterTraining_t;
  94
  95 typedef struct rcSmoothingFilter_s {
  96     bool filterInitialized;
  97     pt3Filter_t filter[4];
  98     pt3Filter_t filterDeflection[2];
  99     uint8_t setpointCutoffSetting;
 100     uint8_t throttleCutoffSetting;
 101     uint16_t setpointCutoffFrequency;
 102     uint16_t throttleCutoffFrequency;
 103     uint8_t ffCutoffSetting;
 104     uint16_t feedforwardCutoffFrequency;
 105     int averageFrameTimeUs;
 106     rcSmoothingFilterTraining_t training;
 107     uint8_t debugAxis;
 108     uint8_t autoSmoothnessFactorSetpoint;
 109     uint8_t autoSmoothnessFactorThrottle;
 110 } rcSmoothingFilter_t;
 111
 112 typedef struct rcControlsConfig_s {
 113     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
 114     uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
 115     uint8_t alt_hold_deadband;              // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
 116     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
 117     bool yaw_control_reversed;            // invert control direction of yaw
 118 } rcControlsConfig_t;
 119
 120 PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
 121
 122 typedef struct flight3DConfig_s {
 123     uint16_t deadband3d_low;                // min 3d value
 124     uint16_t deadband3d_high;               // max 3d value
 125     uint16_t neutral3d;                     // center 3d value
 126     uint16_t deadband3d_throttle;           // default throttle deadband from MIDRC
 127     uint16_t limit3d_low;                   // pwm output value for max negative thrust
 128     uint16_t limit3d_high;                  // pwm output value for max positive thrust
 129     uint8_t switched_mode3d;                // enable '3D Switched Mode'
 130 } flight3DConfig_t;
 131
 132 PG_DECLARE(flight3DConfig_t, flight3DConfig);
 133
 134 typedef struct armingConfig_s {
 135     uint8_t gyro_cal_on_first_arm;          // allow disarm/arm on throttle down + roll left/right
 136     uint8_t auto_disarm_delay;              // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
 137 } armingConfig_t;
 138
 139 PG_DECLARE(armingConfig_t, armingConfig);
 140
 141 bool areUsingSticksToArm(void);
 142
 143 bool areSticksInApModePosition(uint16_t ap_mode);
 144 throttleStatus_e calculateThrottleStatus(void);
 145 void processRcStickPositions();
 146
 147 bool isUsingSticksForArming(void);
 148
 149 int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
 150 void rcControlsInit(void);