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/axis.h"
  26 #include "common/filter.h"
  27 #include "pg/pg.h"
  28
  29 typedef enum rc_alias {
  30     ROLL = 0,
  31     PITCH,
  32     YAW,
  33     THROTTLE,
  34     AUX1,
  35     AUX2,
  36     AUX3,
  37     AUX4,
  38     AUX5,
  39     AUX6,
  40     AUX7,
  41     AUX8,
  42     AUX9,
  43     AUX10,
  44     AUX11,
  45     AUX12
  46 } rc_alias_e;
  47
  48 #define PRIMARY_CHANNEL_COUNT (THROTTLE + 1)
  49
  50 typedef enum {
  51     THROTTLE_LOW = 0,
  52     THROTTLE_HIGH
  53 } throttleStatus_e;
  54
  55 #define AIRMODEDEADBAND 12
  56
  57 typedef enum {
  58     NOT_CENTERED = 0,
  59     CENTERED
  60 } rollPitchStatus_e;
  61
  62 #define ROL_LO (1 << (2 * ROLL))
  63 #define ROL_CE (3 << (2 * ROLL))
  64 #define ROL_HI (2 << (2 * ROLL))
  65 #define PIT_LO (1 << (2 * PITCH))
  66 #define PIT_CE (3 << (2 * PITCH))
  67 #define PIT_HI (2 << (2 * PITCH))
  68 #define YAW_LO (1 << (2 * YAW))
  69 #define YAW_CE (3 << (2 * YAW))
  70 #define YAW_HI (2 << (2 * YAW))
  71 #define THR_LO (1 << (2 * THROTTLE))
  72 #define THR_CE (3 << (2 * THROTTLE))
  73 #define THR_HI (2 << (2 * THROTTLE))
  74 #define THR_MASK (3 << (2 * THROTTLE))
  75
  76 #define CONTROL_RATE_CONFIG_RC_EXPO_MAX  100
  77
  78 #define CONTROL_RATE_CONFIG_RC_RATES_MAX  255
  79
  80 #define CONTROL_RATE_CONFIG_RATE_LIMIT_MIN  200
  81 #define CONTROL_RATE_CONFIG_RATE_LIMIT_MAX  1998
  82
  83 // (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.
  84 #define CONTROL_RATE_CONFIG_RATE_MAX  255
  85
  86 extern float rcCommand[4];
  87
  88 typedef struct rcSmoothingFilter_s {
  89     bool filterInitialized;
  90     pt3Filter_t filterSetpoint[4];
  91     pt3Filter_t filterRcDeflection[RP_AXIS_COUNT];
  92     pt3Filter_t filterFeedforward[3];
  93
  94     uint8_t setpointCutoffSetting;
  95     uint8_t throttleCutoffSetting;
  96     uint8_t feedforwardCutoffSetting;
  97
  98     uint16_t setpointCutoffFrequency;
  99     uint16_t throttleCutoffFrequency;
 100     uint16_t feedforwardCutoffFrequency;
 101
 102     float smoothedRxRateHz;
 103     uint8_t sampleCount;
 104     uint8_t debugAxis;
 105
 106     float autoSmoothnessFactorSetpoint;
 107     float autoSmoothnessFactorFeedforward;
 108     float autoSmoothnessFactorThrottle;
 109 } rcSmoothingFilter_t;
 110
 111 typedef struct rcControlsConfig_s {
 112     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
 113     uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
 114     bool yaw_control_reversed;              // invert control direction of yaw
 115 } rcControlsConfig_t;
 116
 117 PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
 118
 119 typedef struct flight3DConfig_s {
 120     uint16_t deadband3d_low;                // min 3d value
 121     uint16_t deadband3d_high;               // max 3d value
 122     uint16_t neutral3d;                     // center 3d value
 123     uint16_t deadband3d_throttle;           // default throttle deadband from MIDRC
 124     uint16_t limit3d_low;                   // pwm output value for max negative thrust
 125     uint16_t limit3d_high;                  // pwm output value for max positive thrust
 126     uint8_t switched_mode3d;                // enable '3D Switched Mode'
 127 } flight3DConfig_t;
 128
 129 PG_DECLARE(flight3DConfig_t, flight3DConfig);
 130
 131 typedef struct armingConfig_s {
 132     uint8_t gyro_cal_on_first_arm;          // calibrate the gyro right before the first arm
 133     uint8_t auto_disarm_delay;              // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
 134     uint8_t prearm_allow_rearm;
 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);