src/main/fc/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 #include "config/parameter_group.h"
  21
  22 #define AIRMODE_THROTTLE_THRESHOLD 1300
  23
  24 typedef enum rc_alias {
  25     ROLL = 0,
  26     PITCH,
  27     YAW,
  28     THROTTLE,
  29     AUX1,
  30     AUX2,
  31     AUX3,
  32     AUX4,
  33     AUX5,
  34     AUX6,
  35     AUX7,
  36     AUX8,
  37     AUX9,
  38     AUX10,
  39     AUX11,
  40     AUX12
  41 } rc_alias_e;
  42
  43 typedef enum {
  44     THROTTLE_LOW = 0,
  45     THROTTLE_HIGH
  46 } throttleStatus_e;
  47
  48 typedef enum {
  49     THROTTLE_STATUS_TYPE_RC = 0,
  50     THROTTLE_STATUS_TYPE_COMMAND
  51 } throttleStatusType_e;
  52
  53 typedef enum {
  54     NOT_CENTERED = 0,
  55     CENTERED
  56 } rollPitchStatus_e;
  57
  58 typedef enum {
  59     STICK_CENTER = 0,
  60     THROTTLE_THRESHOLD,
  61     STICK_CENTER_ONCE
  62 } airmodeHandlingType_e;
  63
  64 typedef enum {
  65     ROL_LO = (1 << (2 * ROLL)),
  66     ROL_CE = (3 << (2 * ROLL)),
  67     ROL_HI = (2 << (2 * ROLL)),
  68
  69     PIT_LO = (1 << (2 * PITCH)),
  70     PIT_CE = (3 << (2 * PITCH)),
  71     PIT_HI = (2 << (2 * PITCH)),
  72
  73     YAW_LO = (1 << (2 * YAW)),
  74     YAW_CE = (3 << (2 * YAW)),
  75     YAW_HI = (2 << (2 * YAW)),
  76
  77     THR_LO = (1 << (2 * THROTTLE)),
  78     THR_CE = (3 << (2 * THROTTLE)),
  79     THR_HI = (2 << (2 * THROTTLE))
  80 } stickPositions_e;
  81
  82 extern int16_t rcCommand[4];
  83
  84 typedef struct rcControlsConfig_s {
  85     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
  86     uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
  87     uint8_t pos_hold_deadband;              // Deadband for position hold
  88     uint8_t control_deadband;               // General deadband to check if sticks are deflected, us PWM.
  89     uint8_t alt_hold_deadband;              // Defines the neutral zone of throttle stick during altitude hold
  90     uint16_t mid_throttle_deadband;         // default throttle deadband from MIDRC
  91     uint8_t airmodeHandlingType;            // Defaults to ANTI_WINDUP triggered at sticks centered
  92     uint16_t airmodeThrottleThreshold;      // Throttle threshold for airmode initial activation
  93 } rcControlsConfig_t;
  94
  95 PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
  96
  97 typedef struct armingConfig_s {
  98     bool fixed_wing_auto_arm;               // Auto-arm fixed wing aircraft on throttle up and never disarm
  99     bool disarm_kill_switch;                // allow disarm via AUX switch regardless of throttle value
 100     uint16_t switchDisarmDelayMs;           // additional delay between ARM box going off and actual disarm
 101     uint16_t prearmTimeoutMs;               // duration for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout.
 102 } armingConfig_t;
 103
 104 PG_DECLARE(armingConfig_t, armingConfig);
 105
 106 stickPositions_e getRcStickPositions(void);
 107 bool checkStickPosition(stickPositions_e stickPos);
 108
 109 bool areSticksInApModePosition(uint16_t ap_mode);
 110 bool areSticksDeflected(void);
 111 bool isRollPitchStickDeflected(uint8_t deadband);
 112 throttleStatus_e calculateThrottleStatus(throttleStatusType_e type);
 113 int16_t throttleStickMixedValue(void);
 114 rollPitchStatus_e calculateRollPitchCenterStatus(void);
 115 void processRcStickPositions(bool isThrottleLow);
 116 bool throttleStickIsLow(void);
 117
 118 int32_t getRcStickDeflection(int32_t axis);