src/main/io/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 "rx/rx.h"
  21
  22 typedef enum {
  23     BOXARM = 0,
  24     BOXANGLE,
  25     BOXHORIZON,
  26     BOXNAVALTHOLD,  // old BOXBARO
  27     // BOXVARIO,
  28     BOXMAG,
  29     BOXHEADFREE,
  30     BOXHEADADJ,
  31     BOXCAMSTAB,
  32     BOXCAMTRIG,
  33     BOXNAVRTH,      // old GPSHOME
  34     BOXNAVPOSHOLD,  // old GPSHOLD
  35     BOXPASSTHRU,
  36     BOXBEEPERON,
  37     BOXLEDMAX,
  38     BOXLEDLOW,
  39     BOXLLIGHTS,
  40     //BOXCALIB,
  41     BOXGOV,
  42     BOXOSD,
  43     BOXTELEMETRY,
  44     BOXGTUNE,
  45     BOXSERVO1,
  46     BOXSERVO2,
  47     BOXSERVO3,
  48     BOXBLACKBOX,
  49     BOXFAILSAFE,
  50     BOXNAVWP,
  51     BOXAIRMODE,
  52     CHECKBOX_ITEM_COUNT
  53 } boxId_e;
  54
  55 extern uint32_t rcModeActivationMask;
  56
  57 #define IS_RC_MODE_ACTIVE(modeId) ((1 << (modeId)) & rcModeActivationMask)
  58 #define ACTIVATE_RC_MODE(modeId) (rcModeActivationMask |= (1 << modeId))
  59
  60 typedef enum rc_alias {
  61     ROLL = 0,
  62     PITCH,
  63     YAW,
  64     THROTTLE,
  65     AUX1,
  66     AUX2,
  67     AUX3,
  68     AUX4,
  69     AUX5,
  70     AUX6,
  71     AUX7,
  72     AUX8
  73 } rc_alias_e;
  74
  75 typedef enum {
  76     THROTTLE_LOW = 0,
  77     THROTTLE_HIGH
  78 } throttleStatus_e;
  79
  80 #define ROL_LO (1 << (2 * ROLL))
  81 #define ROL_CE (3 << (2 * ROLL))
  82 #define ROL_HI (2 << (2 * ROLL))
  83 #define PIT_LO (1 << (2 * PITCH))
  84 #define PIT_CE (3 << (2 * PITCH))
  85 #define PIT_HI (2 << (2 * PITCH))
  86 #define YAW_LO (1 << (2 * YAW))
  87 #define YAW_CE (3 << (2 * YAW))
  88 #define YAW_HI (2 << (2 * YAW))
  89 #define THR_LO (1 << (2 * THROTTLE))
  90 #define THR_CE (3 << (2 * THROTTLE))
  91 #define THR_HI (2 << (2 * THROTTLE))
  92
  93 #define MAX_MODE_ACTIVATION_CONDITION_COUNT 20
  94
  95 #define CHANNEL_RANGE_MIN 900
  96 #define CHANNEL_RANGE_MAX 2100
  97
  98 #define MODE_STEP_TO_CHANNEL_VALUE(step) (CHANNEL_RANGE_MIN + 25 * step)
  99 #define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain(channelValue, CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / 25)
 100
 101 #define MIN_MODE_RANGE_STEP 0
 102 #define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)
 103
 104 // Roll/pitch rates are a proportion used for mixing, so it tops out at 1.0:
 105 #define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX  100
 106
 107 /* Meaningful yaw rates are effectively unbounded because they are treated as a rotation rate multiplier: */
 108 #define CONTROL_RATE_CONFIG_YAW_RATE_MAX         255
 109
 110 #define CONTROL_RATE_CONFIG_TPA_MAX              100
 111
 112 // steps are 25 apart
 113 // a value of 0 corresponds to a channel value of 900 or less
 114 // a value of 48 corresponds to a channel value of 2100 or more
 115 // 48 steps between 900 and 1200
 116 typedef struct channelRange_s {
 117     uint8_t startStep;
 118     uint8_t endStep;
 119 } channelRange_t;
 120
 121 typedef struct modeActivationCondition_s {
 122     boxId_e modeId;
 123     uint8_t auxChannelIndex;
 124     channelRange_t range;
 125 } modeActivationCondition_t;
 126
 127 #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
 128
 129 #define SHOULD_RESET_ERRORS ((throttleStatus == THROTTLE_LOW && !(IS_RC_MODE_ACTIVE(BOXAIRMODE))) || !(ARMING_FLAG(ARMED)) || ((throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP))))
 130
 131 typedef struct controlRateConfig_s {
 132     uint8_t rcRate8;
 133     uint8_t rcExpo8;
 134     uint8_t thrMid8;
 135     uint8_t thrExpo8;
 136     uint8_t rates[3];
 137     uint8_t dynThrPID;
 138     uint8_t rcYawExpo8;
 139     uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
 140 } controlRateConfig_t;
 141
 142 extern int16_t rcCommand[4];
 143
 144 typedef struct rcControlsConfig_s {
 145     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
 146     uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
 147     uint8_t pos_hold_deadband;             // Adds ability to adjust the Hold-position when moving the sticks (assisted mode)
 148     uint8_t alt_hold_deadband;             // Defines the neutral zone of throttle stick during altitude hold
 149 } rcControlsConfig_t;
 150
 151 bool areUsingSticksToArm(void);
 152
 153 bool areSticksInApModePosition(uint16_t ap_mode);
 154 throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
 155 void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
 156
 157 void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
 158
 159
 160 typedef enum {
 161     ADJUSTMENT_NONE = 0,
 162     ADJUSTMENT_RC_RATE,
 163     ADJUSTMENT_RC_EXPO,
 164     ADJUSTMENT_THROTTLE_EXPO,
 165     ADJUSTMENT_PITCH_ROLL_RATE,
 166     ADJUSTMENT_YAW_RATE,
 167     ADJUSTMENT_PITCH_ROLL_P,
 168     ADJUSTMENT_PITCH_ROLL_I,
 169     ADJUSTMENT_PITCH_ROLL_D,
 170     ADJUSTMENT_YAW_P,
 171     ADJUSTMENT_YAW_I,
 172     ADJUSTMENT_YAW_D,
 173     ADJUSTMENT_RATE_PROFILE,
 174     ADJUSTMENT_PITCH_RATE,
 175     ADJUSTMENT_ROLL_RATE,
 176     ADJUSTMENT_PITCH_P,
 177     ADJUSTMENT_PITCH_I,
 178     ADJUSTMENT_PITCH_D,
 179     ADJUSTMENT_ROLL_P,
 180     ADJUSTMENT_ROLL_I,
 181     ADJUSTMENT_ROLL_D,
 182
 183 } adjustmentFunction_e;
 184
 185 #define ADJUSTMENT_FUNCTION_COUNT 21
 186
 187 typedef enum {
 188     ADJUSTMENT_MODE_STEP,
 189     ADJUSTMENT_MODE_SELECT
 190 } adjustmentMode_e;
 191
 192 typedef struct adjustmentStepConfig_s {
 193     uint8_t step;
 194 } adjustmentStepConfig_t;
 195
 196 typedef struct adjustmentSelectConfig_s {
 197     uint8_t switchPositions;
 198 } adjustmentSelectConfig_t;
 199
 200 typedef union adjustmentConfig_u {
 201     adjustmentStepConfig_t stepConfig;
 202     adjustmentSelectConfig_t selectConfig;
 203 } adjustmentData_t;
 204
 205 typedef struct adjustmentConfig_s {
 206     uint8_t adjustmentFunction;
 207     uint8_t mode;
 208     adjustmentData_t data;
 209 } adjustmentConfig_t;
 210
 211 typedef struct adjustmentRange_s {
 212     // when aux channel is in range...
 213     uint8_t auxChannelIndex;
 214     channelRange_t range;
 215
 216     // ..then apply the adjustment function to the auxSwitchChannel ...
 217     uint8_t adjustmentFunction;
 218     uint8_t auxSwitchChannelIndex;
 219
 220     // ... via slot
 221     uint8_t adjustmentIndex;
 222 } adjustmentRange_t;
 223
 224 #define ADJUSTMENT_INDEX_OFFSET 1
 225
 226 typedef struct adjustmentState_s {
 227     uint8_t auxChannelIndex;
 228     const adjustmentConfig_t *config;
 229     uint32_t timeoutAt;
 230 } adjustmentState_t;
 231
 232
 233 #ifndef MAX_SIMULTANEOUS_ADJUSTMENT_COUNT
 234 #define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel
 235 #endif
 236
 237 #define MAX_ADJUSTMENT_RANGE_COUNT 12 // enough for 2 * 6pos switches.
 238
 239 void resetAdjustmentStates(void);
 240 void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);
 241 void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
 242 void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);
 243
 244 bool isUsingSticksForArming(void);
 245 bool isUsingNavigationModes(void);
 246
 247 int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
 248 bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationConditions, boxId_e modeId);