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 CONTROL_DEADBAND           10      // Used to check if sticks are centered
  23
  24 typedef enum rc_alias {
  25     ROLL = 0,
  26     PITCH,
  27     YAW,
  28     THROTTLE,
  29     AUX1, // 5
  30     AUX2, // 6
  31     AUX3, // 7
  32     AUX4, // 8
  33     AUX5, // 9
  34     AUX6, // 10
  35     AUX7, // 11
  36     AUX8, // 12
  37     AUX9, // 13
  38     AUX10, // 14
  39     AUX11, // 15
  40     AUX12, // 16
  41     AUX13, // 17
  42     AUX14, // 18
  43 #ifdef USE_34CHANNELS
  44     AUX15, // 19
  45     AUX16, // 20
  46     AUX17, // 21
  47     AUX18, // 22
  48     AUX19, // 23
  49     AUX20, // 24
  50     AUX21, // 25
  51     AUX22, // 26
  52     AUX23, // 27
  53     AUX24, // 28
  54     AUX25, // 29
  55     AUX26, // 30
  56     AUX27, // 31
  57     AUX28, // 32
  58     AUX29, // 33
  59     AUX30, // 34
  60 #endif
  61 } rc_alias_e;
  62
  63 typedef enum {
  64     THROTTLE_LOW = 0,
  65     THROTTLE_HIGH
  66 } throttleStatus_e;
  67
  68 typedef enum {
  69     THROTTLE_STATUS_TYPE_RC = 0,
  70     THROTTLE_STATUS_TYPE_COMMAND
  71 } throttleStatusType_e;
  72
  73 typedef enum {
  74     NOT_CENTERED = 0,
  75     CENTERED
  76 } rollPitchStatus_e;
  77
  78 typedef enum {
  79     STICK_CENTER = 0,
  80     THROTTLE_THRESHOLD,
  81     STICK_CENTER_ONCE
  82 } airmodeHandlingType_e;
  83
  84 typedef enum {
  85     ROL_LO = (1 << (2 * ROLL)),
  86     ROL_CE = (3 << (2 * ROLL)),
  87     ROL_HI = (2 << (2 * ROLL)),
  88
  89     PIT_LO = (1 << (2 * PITCH)),
  90     PIT_CE = (3 << (2 * PITCH)),
  91     PIT_HI = (2 << (2 * PITCH)),
  92
  93     YAW_LO = (1 << (2 * YAW)),
  94     YAW_CE = (3 << (2 * YAW)),
  95     YAW_HI = (2 << (2 * YAW)),
  96
  97     THR_LO = (1 << (2 * THROTTLE)),
  98     THR_CE = (3 << (2 * THROTTLE)),
  99     THR_HI = (2 << (2 * THROTTLE))
 100 } stickPositions_e;
 101
 102 extern int16_t rcCommand[4];
 103
 104 typedef struct rcControlsConfig_s {
 105     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
 106     uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
 107     uint8_t pos_hold_deadband;              // Deadband for position hold
 108     uint8_t alt_hold_deadband;              // Defines the neutral zone of throttle stick during altitude hold
 109     uint16_t mid_throttle_deadband;         // default throttle deadband from MIDRC
 110     uint8_t airmodeHandlingType;            // Defaults to ANTI_WINDUP triggered at sticks centered
 111     uint16_t airmodeThrottleThreshold;      // Throttle threshold for airmode initial activation
 112 } rcControlsConfig_t;
 113
 114 PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
 115
 116 typedef struct armingConfig_s {
 117     bool fixed_wing_auto_arm;               // Auto-arm fixed wing aircraft on throttle up and never disarm
 118     bool disarm_always;                     // Disarm motors regardless of throttle value
 119     uint16_t switchDisarmDelayMs;           // additional delay between ARM box going off and actual disarm
 120     uint16_t prearmTimeoutMs;               // duration for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout.
 121 } armingConfig_t;
 122
 123 PG_DECLARE(armingConfig_t, armingConfig);
 124
 125 stickPositions_e getRcStickPositions(void);
 126 bool checkStickPosition(stickPositions_e stickPos);
 127
 128 bool areSticksInApModePosition(uint16_t ap_mode);
 129 bool areSticksDeflected(void);
 130 bool isRollPitchStickDeflected(uint8_t deadband);
 131 throttleStatus_e calculateThrottleStatus(throttleStatusType_e type);
 132 int16_t throttleStickMixedValue(void);
 133 rollPitchStatus_e calculateRollPitchCenterStatus(void);
 134 void processRcStickPositions(bool isThrottleLow);
 135 bool throttleStickIsLow(void);
 136
 137 int32_t getRcStickDeflection(int32_t axis);