src/main/fc/rc_controls.c

   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 #include <stdbool.h>
  19 #include <stdint.h>
  20 #include <string.h>
  21
  22 #include <math.h>
  23
  24 #include "platform.h"
  25
  26 #include "build/debug.h"
  27
  28 #include "blackbox/blackbox.h"
  29
  30 #include "cms/cms.h"
  31
  32 #include "common/axis.h"
  33 #include "common/maths.h"
  34 #include "common/utils.h"
  35
  36 #include "config/feature.h"
  37 #include "config/parameter_group.h"
  38 #include "config/parameter_group_ids.h"
  39
  40 #include "drivers/time.h"
  41
  42 #include "fc/cli.h"
  43 #include "fc/config.h"
  44 #include "fc/controlrate_profile.h"
  45 #include "fc/fc_core.h"
  46 #include "fc/rc_controls.h"
  47 #include "fc/rc_curves.h"
  48 #include "fc/rc_modes.h"
  49 #include "fc/runtime_config.h"
  50 #include "fc/settings.h"
  51
  52 #include "flight/pid.h"
  53 #include "flight/failsafe.h"
  54
  55 #include "io/gps.h"
  56 #include "io/beeper.h"
  57
  58 #include "navigation/navigation.h"
  59
  60 #include "rx/rx.h"
  61
  62 #include "sensors/barometer.h"
  63 #include "sensors/battery.h"
  64 #include "sensors/sensors.h"
  65 #include "sensors/gyro.h"
  66 #include "sensors/acceleration.h"
  67
  68 #define AIRMODE_DEADBAND 25
  69 #define MIN_RC_TICK_INTERVAL_MS             20
  70 #define DEFAULT_RC_SWITCH_DISARM_DELAY_MS   250     // Wait at least 250ms before disarming via switch
  71 #define DEFAULT_PREARM_TIMEOUT              10000   // Prearm is invalidated after 10 seconds
  72
  73 stickPositions_e rcStickPositions;
  74
  75 FASTRAM int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
  76
  77 PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 3);
  78
  79 PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
  80     .deadband = SETTING_DEADBAND_DEFAULT,
  81     .yaw_deadband = SETTING_YAW_DEADBAND_DEFAULT,
  82     .pos_hold_deadband = SETTING_POS_HOLD_DEADBAND_DEFAULT,
  83     .control_deadband = SETTING_CONTROL_DEADBAND_DEFAULT,
  84     .alt_hold_deadband = SETTING_ALT_HOLD_DEADBAND_DEFAULT,
  85     .mid_throttle_deadband = SETTING_3D_DEADBAND_THROTTLE_DEFAULT,
  86     .airmodeHandlingType = SETTING_AIRMODE_TYPE_DEFAULT,
  87     .airmodeThrottleThreshold = SETTING_AIRMODE_THROTTLE_THRESHOLD_DEFAULT,
  88 );
  89
  90 PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 2);
  91
  92 PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
  93     .fixed_wing_auto_arm = SETTING_FIXED_WING_AUTO_ARM_DEFAULT,
  94     .disarm_kill_switch = SETTING_DISARM_KILL_SWITCH_DEFAULT,
  95     .switchDisarmDelayMs = SETTING_SWITCH_DISARM_DELAY_DEFAULT,
  96     .prearmTimeoutMs = SETTING_PREARM_TIMEOUT_DEFAULT,
  97 );
  98
  99 bool areSticksInApModePosition(uint16_t ap_mode)
 100 {
 101     return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
 102 }
 103
 104 bool areSticksDeflected(void)
 105 {
 106     return (ABS(rcCommand[ROLL]) > rcControlsConfig()->control_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->control_deadband) || (ABS(rcCommand[YAW]) > rcControlsConfig()->control_deadband);
 107 }
 108
 109 bool isRollPitchStickDeflected(uint8_t deadband)
 110 {
 111     return (ABS(rcCommand[ROLL]) > deadband) || (ABS(rcCommand[PITCH]) > deadband);
 112 }
 113
 114 throttleStatus_e FAST_CODE NOINLINE calculateThrottleStatus(throttleStatusType_e type)
 115 {
 116     int value = rxGetChannelValue(THROTTLE);    // THROTTLE_STATUS_TYPE_RC
 117     if (type == THROTTLE_STATUS_TYPE_COMMAND) {
 118         value = rcCommand[THROTTLE];
 119     }
 120
 121     const uint16_t mid_throttle_deadband = rcControlsConfig()->mid_throttle_deadband;
 122     bool midThrottle = value > (PWM_RANGE_MIDDLE - mid_throttle_deadband) && value < (PWM_RANGE_MIDDLE + mid_throttle_deadband);
 123     if ((feature(FEATURE_REVERSIBLE_MOTORS) && midThrottle) || (!feature(FEATURE_REVERSIBLE_MOTORS) && (value < rxConfig()->mincheck))) {
 124         return THROTTLE_LOW;
 125     }
 126
 127     return THROTTLE_HIGH;
 128 }
 129
 130 bool throttleStickIsLow(void)
 131 {
 132     return calculateThrottleStatus(feature(FEATURE_REVERSIBLE_MOTORS) ? THROTTLE_STATUS_TYPE_COMMAND : THROTTLE_STATUS_TYPE_RC) == THROTTLE_LOW;
 133 }
 134
 135 int16_t throttleStickMixedValue(void)
 136 {
 137     int16_t throttleValue;
 138
 139     throttleValue = constrain(rxGetChannelValue(THROTTLE), rxConfig()->mincheck, PWM_RANGE_MAX);
 140     throttleValue = (uint16_t)(throttleValue - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck);  // [MINCHECK;2000] -> [0;1000]
 141     return rcLookupThrottle(throttleValue);
 142 }
 143
 144 rollPitchStatus_e calculateRollPitchCenterStatus(void)
 145 {
 146     if (((rxGetChannelValue(PITCH) < (PWM_RANGE_MIDDLE + AIRMODE_DEADBAND)) && (rxGetChannelValue(PITCH) > (PWM_RANGE_MIDDLE -AIRMODE_DEADBAND)))
 147             && ((rxGetChannelValue(ROLL) < (PWM_RANGE_MIDDLE + AIRMODE_DEADBAND)) && (rxGetChannelValue(ROLL) > (PWM_RANGE_MIDDLE -AIRMODE_DEADBAND))))
 148         return CENTERED;
 149
 150     return NOT_CENTERED;
 151 }
 152
 153 stickPositions_e getRcStickPositions(void)
 154 {
 155     return rcStickPositions;
 156 }
 157
 158 bool checkStickPosition(stickPositions_e stickPos)
 159 {
 160     const uint8_t mask[4] = { ROL_LO | ROL_HI, PIT_LO | PIT_HI, YAW_LO | YAW_HI, THR_LO | THR_HI };
 161     for (int i = 0; i < 4; i++) {
 162         if (((stickPos & mask[i]) != 0) && ((stickPos & mask[i]) != (rcStickPositions & mask[i]))) {
 163             return false;
 164         }
 165     }
 166
 167     return true;
 168 }
 169
 170 static void updateRcStickPositions(void)
 171 {
 172     stickPositions_e tmp = 0;
 173
 174     tmp |= ((rxGetChannelValue(ROLL) > rxConfig()->mincheck) ? 0x02 : 0x00) << (ROLL * 2);
 175     tmp |= ((rxGetChannelValue(ROLL) < rxConfig()->maxcheck) ? 0x01 : 0x00) << (ROLL * 2);
 176
 177     tmp |= ((rxGetChannelValue(PITCH) > rxConfig()->mincheck) ? 0x02 : 0x00) << (PITCH * 2);
 178     tmp |= ((rxGetChannelValue(PITCH) < rxConfig()->maxcheck) ? 0x01 : 0x00) << (PITCH * 2);
 179
 180     tmp |= ((rxGetChannelValue(YAW) > rxConfig()->mincheck) ? 0x02 : 0x00) << (YAW * 2);
 181     tmp |= ((rxGetChannelValue(YAW) < rxConfig()->maxcheck) ? 0x01 : 0x00) << (YAW * 2);
 182
 183     tmp |= ((rxGetChannelValue(THROTTLE) > rxConfig()->mincheck) ? 0x02 : 0x00) << (THROTTLE * 2);
 184     tmp |= ((rxGetChannelValue(THROTTLE) < rxConfig()->maxcheck) ? 0x01 : 0x00) << (THROTTLE * 2);
 185
 186     rcStickPositions = tmp;
 187 }
 188
 189 void processRcStickPositions(bool isThrottleLow)
 190 {
 191     static timeMs_t lastTickTimeMs = 0;
 192     static uint8_t rcDelayCommand;      // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
 193     static uint32_t rcSticks;           // this hold sticks position for command combos
 194     static timeMs_t rcDisarmTimeMs;     // this is an extra guard for disarming through switch to prevent that one frame can disarm it
 195     const timeMs_t currentTimeMs = millis();
 196
 197     updateRcStickPositions();
 198
 199     uint32_t stTmp = getRcStickPositions();
 200     if (stTmp == rcSticks) {
 201         if (rcDelayCommand < 250) {
 202             if ((currentTimeMs - lastTickTimeMs) >= MIN_RC_TICK_INTERVAL_MS) {
 203                 lastTickTimeMs = currentTimeMs;
 204                 rcDelayCommand++;
 205             }
 206         }
 207     } else {
 208         rcDelayCommand = 0;
 209     }
 210
 211     rcSticks = stTmp;
 212
 213     // perform actions
 214     bool armingSwitchIsActive = IS_RC_MODE_ACTIVE(BOXARM);
 215
 216     if (STATE(AIRPLANE) && feature(FEATURE_MOTOR_STOP) && armingConfig()->fixed_wing_auto_arm) {
 217         // Auto arm on throttle when using fixedwing and motorstop
 218         if (!isThrottleLow) {
 219             tryArm();
 220             return;
 221         }
 222     }
 223     else {
 224         if (armingSwitchIsActive) {
 225             rcDisarmTimeMs = currentTimeMs;
 226             tryArm();
 227         } else {
 228             emergencyArmingUpdate(armingSwitchIsActive);
 229             // Disarming via ARM BOX
 230             // Don't disarm via switch if failsafe is active or receiver doesn't receive data - we can't trust receiver
 231             // and can't afford to risk disarming in the air
 232             if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) {
 233                 const timeMs_t disarmDelay = currentTimeMs - rcDisarmTimeMs;
 234                 if (disarmDelay > armingConfig()->switchDisarmDelayMs) {
 235                     if (armingConfig()->disarm_kill_switch || isThrottleLow) {
 236                         disarm(DISARM_SWITCH);
 237                     }
 238                 }
 239             }
 240             else {
 241                 rcDisarmTimeMs = currentTimeMs;
 242             }
 243         }
 244
 245         // KILLSWITCH disarms instantly
 246         if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
 247             disarm(DISARM_KILLSWITCH);
 248         }
 249     }
 250
 251     if (rcDelayCommand != 20) {
 252         return;
 253     }
 254
 255     /* Disable stick commands when armed, in CLI mode or CMS is active */
 256     bool disableStickCommands = ARMING_FLAG(ARMED) || cliMode;
 257 #ifdef USE_CMS
 258     disableStickCommands = disableStickCommands || cmsInMenu;
 259 #endif
 260     if (disableStickCommands) {
 261         return;
 262     }
 263
 264     /* REMAINING SECTION HANDLES STICK COMANDS ONLY */
 265
 266     // GYRO calibration
 267     if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
 268         gyroStartCalibration();
 269         return;
 270     }
 271
 272
 273 #if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
 274     // Save waypoint list
 275     if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_LO) {
 276         const bool success = saveNonVolatileWaypointList();
 277         beeper(success ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL);
 278     }
 279
 280     // Load waypoint list
 281     if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
 282         const bool success = loadNonVolatileWaypointList(false);
 283         beeper(success ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL);
 284     }
 285 #ifdef USE_MULTI_MISSION
 286     // Increment multi mission index up
 287     if (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI) {
 288         selectMultiMissionIndex(1);
 289         rcDelayCommand = 0;
 290         return;
 291     }
 292
 293     // Decrement multi mission index down
 294     if (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO) {
 295         selectMultiMissionIndex(-1);
 296         rcDelayCommand = 0;
 297         return;
 298     }
 299 #endif
 300     if (rcSticks == THR_LO + YAW_CE + PIT_LO + ROL_HI) {
 301         resetWaypointList();
 302         beeper(BEEPER_ACTION_FAIL); // The above cannot fail, but traditionally, we play FAIL for not-loading
 303     }
 304 #endif
 305
 306     // Multiple configuration profiles
 307     if (feature(FEATURE_TX_PROF_SEL)) {
 308
 309         uint8_t i = 0;
 310
 311         if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO)          // ROLL left  -> Profile 1
 312             i = 1;
 313         else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE)     // PITCH up   -> Profile 2
 314             i = 2;
 315         else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI)     // ROLL right -> Profile 3
 316             i = 3;
 317
 318         if (i) {
 319             setConfigProfileAndWriteEEPROM(i - 1);
 320             return;
 321         }
 322
 323         i = 0;
 324
 325         // Multiple battery configuration profiles
 326         if (rcSticks == THR_HI + YAW_LO + PIT_CE + ROL_LO)          // ROLL left  -> Profile 1
 327             i = 1;
 328         else if (rcSticks == THR_HI + YAW_LO + PIT_HI + ROL_CE)     // PITCH up   -> Profile 2
 329             i = 2;
 330         else if (rcSticks == THR_HI + YAW_LO + PIT_CE + ROL_HI)     // ROLL right -> Profile 3
 331             i = 3;
 332
 333         if (i) {
 334             setConfigBatteryProfileAndWriteEEPROM(i - 1);
 335             batteryDisableProfileAutoswitch();
 336             activateBatteryProfile();
 337             return;
 338         }
 339
 340     }
 341
 342     // Save config
 343     if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_HI) {
 344         saveConfigAndNotify();
 345     }
 346
 347     // Calibrating Acc
 348     if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
 349         accStartCalibration();
 350         return;
 351     }
 352
 353     // Calibrating Mag
 354     if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) {
 355         ENABLE_STATE(CALIBRATE_MAG);
 356         return;
 357     }
 358
 359     // Accelerometer Trim
 360     if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
 361         applyAndSaveBoardAlignmentDelta(0, -2);
 362         rcDelayCommand = 10;
 363         return;
 364     } else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
 365         applyAndSaveBoardAlignmentDelta(0, 2);
 366         rcDelayCommand = 10;
 367         return;
 368     } else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
 369         applyAndSaveBoardAlignmentDelta(-2, 0);
 370         rcDelayCommand = 10;
 371         return;
 372     } else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
 373         applyAndSaveBoardAlignmentDelta(2, 0);
 374         rcDelayCommand = 10;
 375         return;
 376     }
 377 }
 378
 379 int32_t getRcStickDeflection(int32_t axis) {
 380     return MIN(ABS(rxGetChannelValue(axis) - PWM_RANGE_MIDDLE), 500);
 381 }