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_24CHANNELS
  44     AUX15, // 19
  45     AUX16, // 20
  46     AUX17, // 21
  47     AUX18, // 22
  48     AUX19, // 23
  49     AUX20, // 24
  50 #endif
  51 } rc_alias_e;
  52
  53 typedef enum {
  54     THROTTLE_LOW = 0,
  55     THROTTLE_HIGH
  56 } throttleStatus_e;
  57
  58 typedef enum {
  59     THROTTLE_STATUS_TYPE_RC = 0,
  60     THROTTLE_STATUS_TYPE_COMMAND
  61 } throttleStatusType_e;
  62
  63 typedef enum {
  64     NOT_CENTERED = 0,
  65     CENTERED
  66 } rollPitchStatus_e;
  67
  68 typedef enum {
  69     STICK_CENTER = 0,
  70     THROTTLE_THRESHOLD,
  71     STICK_CENTER_ONCE
  72 } airmodeHandlingType_e;
  73
  74 typedef enum {
  75     ROL_LO = (1 << (2 * ROLL)),
  76     ROL_CE = (3 << (2 * ROLL)),
  77     ROL_HI = (2 << (2 * ROLL)),
  78
  79     PIT_LO = (1 << (2 * PITCH)),
  80     PIT_CE = (3 << (2 * PITCH)),
  81     PIT_HI = (2 << (2 * PITCH)),
  82
  83     YAW_LO = (1 << (2 * YAW)),
  84     YAW_CE = (3 << (2 * YAW)),
  85     YAW_HI = (2 << (2 * YAW)),
  86
  87     THR_LO = (1 << (2 * THROTTLE)),
  88     THR_CE = (3 << (2 * THROTTLE)),
  89     THR_HI = (2 << (2 * THROTTLE))
  90 } stickPositions_e;
  91
  92 extern int16_t rcCommand[4];
  93
  94 typedef struct rcControlsConfig_s {
  95     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
  96     uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
  97     uint8_t pos_hold_deadband;              // Deadband for position hold
  98     uint8_t alt_hold_deadband;              // Defines the neutral zone of throttle stick during altitude hold
  99     uint16_t mid_throttle_deadband;         // default throttle deadband from MIDRC
 100     uint8_t airmodeHandlingType;            // Defaults to ANTI_WINDUP triggered at sticks centered
 101     uint16_t airmodeThrottleThreshold;      // Throttle threshold for airmode initial activation
 102 } rcControlsConfig_t;
 103
 104 PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
 105
 106 typedef struct armingConfig_s {
 107     bool fixed_wing_auto_arm;               // Auto-arm fixed wing aircraft on throttle up and never disarm
 108     bool disarm_always;                     // Disarm motors regardless of throttle value
 109     uint16_t switchDisarmDelayMs;           // additional delay between ARM box going off and actual disarm
 110     uint16_t prearmTimeoutMs;               // duration for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout.
 111 } armingConfig_t;
 112
 113 PG_DECLARE(armingConfig_t, armingConfig);
 114
 115 stickPositions_e getRcStickPositions(void);
 116 bool checkStickPosition(stickPositions_e stickPos);
 117
 118 bool areSticksInApModePosition(uint16_t ap_mode);
 119 bool areSticksDeflected(void);
 120 bool isRollPitchStickDeflected(uint8_t deadband);
 121 throttleStatus_e calculateThrottleStatus(throttleStatusType_e type);
 122 int16_t throttleStickMixedValue(void);
 123 rollPitchStatus_e calculateRollPitchCenterStatus(void);
 124 void processRcStickPositions(bool isThrottleLow);
 125 bool throttleStickIsLow(void);
 126
 127 int32_t getRcStickDeflection(int32_t axis);